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setup_catkin_workspace.sh

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+#!/bin/bash
+# ========================================================
+# Script to setup Catkin workspace for pnkx_nav_core
+# ========================================================
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+WORKSPACE_NAME="pnkx_nav_catkin_ws"
+WORKSPACE_DIR="${SCRIPT_DIR}/../${WORKSPACE_NAME}"
+
+echo "=========================================="
+echo "Setting up Catkin workspace for pnkx_nav_core"
+echo "=========================================="
+echo ""
+
+# Create workspace directory
+echo "Creating workspace directory: ${WORKSPACE_DIR}"
+mkdir -p "${WORKSPACE_DIR}/src"
+
+# Check if src directory already has packages
+if [ -d "${WORKSPACE_DIR}/src" ] && [ "$(ls -A ${WORKSPACE_DIR}/src 2>/dev/null)" ]; then
+    echo "Warning: ${WORKSPACE_DIR}/src already contains packages"
+    read -p "Do you want to continue? (y/n) " -n 1 -r
+    echo
+    if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+        echo "Aborted."
+        exit 1
+    fi
+fi
+
+# Create symlinks to packages that have package.xml
+echo ""
+echo "Creating symlinks to packages with package.xml..."
+
+# Find all packages with package.xml in the source tree
+PACKAGES=(
+    "src/Libraries/tf3"
+    "src/Libraries/nav_2d_utils"
+    "src/Navigations/Libraries/nav_grid"
+    "src/Navigations/Cores/nav_core"
+    "src/Navigations/Cores/nav_core2"
+    "src/Navigations/Cores/nav_core_adapter"
+    "src/Navigations/Cores/move_base_core"
+    "src/Navigations/Cores/nav_core_adapter"
+    "src/Packages/move_base"
+    "src/Navigations/Packages/move_base"
+)
+
+for PKG_PATH in "${PACKAGES[@]}"; do
+    FULL_PATH="${SCRIPT_DIR}/${PKG_PATH}"
+    if [ -f "${FULL_PATH}/package.xml" ]; then
+        PKG_NAME=$(basename "${PKG_PATH}")
+        TARGET="${WORKSPACE_DIR}/src/${PKG_NAME}"
+        
+        if [ -e "${TARGET}" ]; then
+            echo "  Warning: ${TARGET} already exists, skipping..."
+        else
+            echo "  Linking: ${PKG_NAME} -> ${PKG_PATH}"
+            ln -s "${FULL_PATH}" "${TARGET}"
+        fi
+    else
+        echo "  Warning: ${PKG_PATH}/package.xml not found, skipping..."
+    fi
+done
+
+# Create a README in the workspace
+cat > "${WORKSPACE_DIR}/README.md" << EOF
+# Catkin Workspace for pnkx_nav_core
+
+This is a Catkin workspace containing ROS-compatible packages from pnkx_nav_core.
+
+## Structure
+
+\`\`\`
+${WORKSPACE_NAME}/
+├── src/              # Source packages (symlinked from pnkx_nav_core)
+└── build/            # Build directory (created by catkin_make)
+\`\`\`
+
+## Building
+
+\`\`\`bash
+cd ${WORKSPACE_DIR}
+catkin_make
+\`\`\`
+
+## Source the workspace
+
+After building, source the setup file:
+
+\`\`\`bash
+source devel/setup.bash
+\`\`\`
+
+## Note
+
+Packages in \`src/\` are symlinked from the main pnkx_nav_core project.
+To add more packages, create symlinks in \`src/\` pointing to packages
+that have both \`CMakeLists.txt\` and \`package.xml\`.
+EOF
+
+echo ""
+echo "=========================================="
+echo "Workspace setup complete!"
+echo "=========================================="
+echo ""
+echo "Next steps:"
+echo "  1. cd ${WORKSPACE_DIR}"
+echo "  2. catkin_make"
+echo "  3. source devel/setup.bash"
+echo ""
+echo "Note: Make sure all dependencies are built in the main project first"
+echo "      using standalone CMake before building with catkin."
+echo ""
+