# 1. Fix Ubuntu Pi apt sources first (critical on Pi Ubuntu images)
# Check that noble-updates exists in your sources:
grep -r "noble-updates" /etc/apt/sources.list.d/

# 2. Set locale
sudo apt-get install locales -y
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# 3. Add ROS2 apt repo (modern method using ros-apt-source)
sudo apt-get install software-properties-common curl -y
sudo add-apt-repository universe
sudo apt-get update
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb \
  "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

# 4. Install ROS2 - choose ONE:
sudo apt-get update
# sudo apt-get install ros-jazzy-ros-base -y        # lean: no GUI tools (recommended for Pi robot brain)
sudo apt-get install ros-jazzy-desktop -y       # full: includes RViz, rqt (needs more RAM/disk)

# 5. Install dev tools
sudo apt-get install ros-dev-tools -y
sudo apt-get install python3-colcon-common-extensions -y

# 6. Setup rosdep
sudo rosdep init
rosdep update

# # 7. Auto-source in .bashrc
# echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
# source ~/.bashrc