[feat] 添加安装系统自带ROS的功能 (#43)

* Create tool_install_ros1_systemdefault.py

添加工具，使得用户可以在高版本中使用系统源安装ROS

* Update install.py

* Update install.py

* Fix error

* Update tool_install_ros1_systemdefault.py

* Update tool_install_ros1_systemdefault.py

* Update install.py

* 修改警示标语

* 添加警告信息

install.py

@@ -33,6 +33,7 @@
     13: {'tip':'一键配置:python国内源','type':CONFIG_TOOL,'tool':url_prefix+'tools/tool_config_python_source.py' ,'dep':[] },
     14: {'tip':'一键安装:科学上网代理工具','type':INSTALL_SOFTWARE,'tool':url_prefix+'tools/tool_install_proxy_tool.py' ,'dep':[8] },
     15: {'tip':'一键安装：QQ for Linux', 'type':INSTALL_SOFTWARE, 'tool': url_prefix+'tools/tool_install_qq.py', 'dep':[]},
+    16: {'tip':'一键安装：系统自带ROS (！！警告！！仅供特殊情况下使用)', 'type':INSTALL_ROS, 'tool': url_prefix+'tools/tool_install_ros1_systemdefault.py', 'dep':[5]},
     # 77: {'tip':'测试模式:运行自定义工具测试'},
     }
 # 
@@ -119,4 +120,4 @@ def main():
     PrintUtils.print_success("如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈",0.001)
 
 if __name__=='__main__':
-    main()
+    main()

tools/tool_install_ros1_systemdefault.py

@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+from .base import BaseTool
+from .base import PrintUtils,CmdTask,FileUtils,AptUtils,ChooseTask
+from .base import osversion
+from .base import run_tool_file
+
+class Tool(BaseTool):
+    def __init__(self):
+        self.type = BaseTool.TYPE_INSTALL
+        self.name = "一键安装系统自带ROS，仅在Ubuntu 22.04 及以上版本系统中使用。"
+        self.autor = 'Elysia'
+        PrintUtils.print_warn("警告！！此工具安装的ROS与从ROS官方软件源安装的ROS冲突！")
+
+    def run(self):
+        #正式的运行
+        self.check_sys_source()
+        self.install_system_ros()
+        return True
+
+    def check_sys_source(self):
+        # 更换系统源
+        dic = {1:"更换系统源再继续安装",2:"不更换继续安装"}
+        PrintUtils.print_warn("=========接下来这一步很很很很重要，如果不知道怎么选请选择1========")
+        code,result = ChooseTask(dic, "新手或首次安装一定要一定要一定要换源并清理三方源，换源!!!系统默认国外源容易失败!!").run()
+        if code==1: 
+            tool = run_tool_file('tools.tool_config_system_source',autorun=False)
+            tool.change_sys_source()
+
+    def install_system_ros(self):
+        version_dic = {1:"完整版",2:"基础版(小)"}
+        code,name = ChooseTask(version_dic,"请选择安装的具体版本(如果不知道怎么选,请选1桌面版):",False).run()
+
+        if code==0: 
+            print("你选择退出。。。。")
+            return
+
+        install_tool = 'aptitude'
+        install_tool_apt = 'apt'
+        if osversion.get_version() == "16.04":
+            install_tool = 'apt'
+
+        if install_tool=='aptitude':
+            AptUtils.install_pkg('aptitude')
+            AptUtils.install_pkg('aptitude')
+
+        # 先尝试使用apt 安装，之后再使用aptitude。
+        if code==2:
+            # 第一次尝试
+            cmd_result = CmdTask("sudo {} install  {} -y".format(install_tool_apt,"ros-base-dev"),300,os_command=True).run()
+            cmd_result = CmdTask("sudo {} install  {} -y".format(install_tool_apt,"ros-base-dev"),300,os_command=False).run()
+            if FileUtils.check_result(cmd_result,['未满足的依赖关系','unmet dependencies','but it is not installable']):
+                # 尝试使用aptitude解决依赖问题
+                PrintUtils.print_warn("============================================================")
+                PrintUtils.print_delay("请注意，检测你在安装过程中出现依赖问题，请在稍后输入n,再选择y,即可解决")
+                import time
+                input("确认了解情况，请输入回车继续安装")
+                cmd_result = CmdTask("sudo {} install   {} ".format(install_tool,"ros-base-dev"),300,os_command=True).run()
+                cmd_result = CmdTask("sudo {} install   {} -y".format(install_tool,"ros-base-dev"),300,os_command=False).run()
+
+        elif code==1:
+            cmd_result = CmdTask("sudo {} install   {} -y".format(install_tool_apt,"ros-desktop-full-dev"),300,os_command=True).run()
+            cmd_result = CmdTask("sudo {} install   {} -y".format(install_tool_apt,"ros-desktop-full-dev"),300,os_command=False).run()
+            if FileUtils.check_result(cmd_result,['未满足的依赖关系','unmet dependencies','but it is not installable']):
+                # 尝试使用aptitude解决依赖问题
+                PrintUtils.print_warn("============================================================")
+                PrintUtils.print_delay("请注意，检测你在安装过程中出现依赖问题，请在稍后输入n,再选择y,即可解决（若无法解决，清在稍后手动运行命令: sudo aptitude install {})".format(RosVersions.get_desktop_version(install_version)))
+                import time
+                input("确认了解情况，请输入回车继续安装")
+                cmd_result = CmdTask("sudo {} install   {}".format(install_tool,"ros-desktop-full-dev"),300,os_command=True).run()
+                cmd_result = CmdTask("sudo {} install   {} -y".format(install_tool,"ros-desktop-full-dev"),300,os_command=False).run()
+
+        # apt broken error
+        if cmd_result[0]!=0:
+            if FileUtils.check_result(cmd_result[1]+cmd_result[2],['sudo apt --fix-broken install -y']):
+                if code==2: cmd_result = CmdTask("sudo {} install   {} -y".format(install_tool,"ros-base-dev"),300,os_command=False).run()
+                elif code==1: cmd_result = CmdTask("sudo {} install   {} -y".format(install_tool,"ros-desktop-full-dev"),300,os_command=False).run()
+
+        return True