verify-setup.sh

Overview

The verify-setup.sh script provides comprehensive verification and diagnostics for the TurtleBot3 development environment. It checks system components, packages, environment variables, and build status. Location: .devcontainer/verify-setup.sh Execution: Manual (run by user when needed) Runtime: < 10 seconds

Usage

bash /workspace/turtlebot3_ws/.devcontainer/verify-setup.sh

Or from anywhere:

bash .devcontainer/verify-setup.sh

Script structure

#!/bin/bash

# Quick verification script for TurtleBot3 Jazzy setup
# Run this after container is built to verify everything works

echo "=========================================="
echo "TurtleBot3 Jazzy Setup Verification"
echo "=========================================="
echo ""

Note: No set -e - script always runs all tests even if some fail.

Color codes

GREEN='\033[0;32m'
RED='\033[0;31m'
YELLOW='\033[1;33m'
NC='\033[0m' # No Color

ANSI color codes for readable output:

Green: Test passed
Red: Test failed
Yellow: Warning
NC: Reset to default

Test function

test_command() {
    local description=$1
    local command=$2
    
    echo -n "Testing: $description... "
    if eval $command > /dev/null 2>&1; then
        echo -e "${GREEN}[PASS]${NC}"
        return 0
    else
        echo -e "${RED}[FAIL]${NC}"
        return 1
    fi
}

Purpose: Reusable function for testing commands Parameters:

$1: Description of what’s being tested
$2: Command to execute

Behavior:

Executes command silently
Displays color-coded result
Returns 0 for pass, 1 for fail

Test counters

passed=0
failed=0

Tracks total number of passed and failed tests.

Environment sourcing

source /opt/ros/jazzy/setup.bash 2>/dev/null
if [ -f /workspace/turtlebot3_ws/install/setup.bash ]; then
    source /workspace/turtlebot3_ws/install/setup.bash 2>/dev/null
fi

Sources ROS2 environment needed for tests.

Test categories

1. System checks

echo "1. System Checks"
echo "----------------------------------------"

if test_command "ROS2 Jazzy installed" "ros2 --version"; then
    ((passed++))
else
    ((failed++))
fi

if test_command "Gazebo Harmonic installed" "gz sim --version"; then
    ((passed++))
else
    ((failed++))
fi

if test_command "Python 3 available" "python3 --version"; then
    ((passed++))
else
    ((failed++))
fi

if test_command "colcon build tool" "colcon --version"; then
    ((passed++))
else
    ((failed++))
fi

Tests:

ROS2 Jazzy installation
Gazebo Harmonic installation
Python 3 availability
Colcon build tool

Critical: All should pass

2. ROS2 package checks

echo ""
echo "2. ROS2 Package Checks"
echo "----------------------------------------"

if test_command "TurtleBot3 packages" "ros2 pkg list | grep turtlebot3"; then
    ((passed++))
else
    ((failed++))
fi

if test_command "Navigation2 packages" "ros2 pkg list | grep nav2"; then
    ((passed++))
else
    ((failed++))
fi

if test_command "Cartographer packages" "ros2 pkg list | grep cartographer"; then
    ((passed++))
else
    ((failed++))
fi

Tests:

TurtleBot3 packages presence
Navigation2 packages presence
Cartographer SLAM packages presence

Critical: All should pass after workspace is built

3. Environment variables

echo ""
echo "3. Environment Variables"
echo "----------------------------------------"

echo -n "Checking ROS_DISTRO... "
if [ "$ROS_DISTRO" = "jazzy" ]; then
    echo -e "${GREEN}[PASS]${NC} (jazzy)"
    ((passed++))
else
    echo -e "${RED}[FAIL]${NC} (found: $ROS_DISTRO)"
    ((failed++))
fi

echo -n "Checking TURTLEBOT3_MODEL... "
if [ ! -z "$TURTLEBOT3_MODEL" ]; then
    echo -e "${GREEN}[PASS]${NC} ($TURTLEBOT3_MODEL)"
    ((passed++))
else
    echo -e "${YELLOW}[WARNING]${NC} (not set)"
fi

echo -n "Checking GZ_VERSION... "
if [ "$GZ_VERSION" = "harmonic" ]; then
    echo -e "${GREEN}[PASS]${NC} (harmonic)"
    ((passed++))
else
    echo -e "${YELLOW}[WARNING]${NC} (found: $GZ_VERSION)"
fi

Tests:

ROS_DISTRO: Should be “jazzy” (critical)
TURTLEBOT3_MODEL: Should be set (warning if not)
GZ_VERSION: Should be “harmonic” (warning if not)

Note: Some tests show warnings instead of failures

4. Directory structure

echo ""
echo "4. Directory Structure"
echo "----------------------------------------"

echo -n "Checking workspace... "
if [ -d "/workspace/turtlebot3_ws" ]; then
    echo -e "${GREEN}[PASS]${NC}"
    ((passed++))
else
    echo -e "${RED}[FAIL]${NC}"
    ((failed++))
fi

echo -n "Checking source directory... "
if [ -d "/workspace/turtlebot3_ws/src" ]; then
    echo -e "${GREEN}[PASS]${NC}"
    ((passed++))
else
    echo -e "${RED}[FAIL]${NC}"
    ((failed++))
fi

echo -n "Checking TurtleBot3 source... "
if [ -d "/workspace/turtlebot3_ws/src/turtlebot3" ]; then
    echo -e "${GREEN}[PASS]${NC}"
    ((passed++))
else
    echo -e "${RED}[FAIL]${NC}"
    ((failed++))
fi

Tests:

Workspace directory exists
Source directory exists
TurtleBot3 source exists

Critical: All should pass

5. Build status

echo ""
echo "5. Build Status"
echo "----------------------------------------"

echo -n "Checking build directory... "
if [ -d "/workspace/turtlebot3_ws/build" ]; then
    echo -e "${GREEN}[PASS]${NC}"
    ((passed++))
else
    echo -e "${YELLOW}[WARNING]${NC} (not built yet)"
fi

echo -n "Checking install directory... "
if [ -d "/workspace/turtlebot3_ws/install" ]; then
    echo -e "${GREEN}[PASS]${NC}"
    ((passed++))
else
    echo -e "${YELLOW}[WARNING]${NC} (not built yet)"
fi

Tests:

Build directory exists
Install directory exists

Note: Shows warnings instead of failures (workspace may not be built yet)

Results summary

echo ""
echo "=========================================="
echo "Verification Results"
echo "=========================================="
echo -e "Tests Passed: ${GREEN}$passed${NC}"
if [ $failed -gt 0 ]; then
    echo -e "Tests Failed: ${RED}$failed${NC}"
else
    echo -e "Tests Failed: $failed"
fi

Displays summary with color coding.

Success output

if [ $failed -eq 0 ]; then
    echo -e "${GREEN}[OK] All critical checks passed!${NC}"
    echo ""
    echo "Your TurtleBot3 Jazzy environment is ready!"
    echo ""
    echo "Quick start:"
    echo "  1. Terminal 1: tb3_empty"
    echo "  2. Terminal 2: tb3_teleop"
    echo "  3. Access VNC at http://localhost:6080"
    echo ""
fi

Provides quick start guidance when all tests pass.

Failure output

else
    echo -e "${RED}[FAIL] Some checks failed${NC}"
    echo ""
    echo "Please review the failed tests above."
    echo "Try rebuilding the workspace with: cb"
    echo ""
fi

Provides troubleshooting guidance when tests fail.

Example output

All tests passing

==========================================
TurtleBot3 Jazzy Setup Verification
==========================================

1. System Checks
----------------------------------------
Testing: ROS2 Jazzy installed... [PASS]
Testing: Gazebo Harmonic installed... [PASS]
Testing: Python 3 available... [PASS]
Testing: colcon build tool... [PASS]

2. ROS2 Package Checks
----------------------------------------
Testing: TurtleBot3 packages... [PASS]
Testing: Navigation2 packages... [PASS]
Testing: Cartographer packages... [PASS]

3. Environment Variables
----------------------------------------
Checking ROS_DISTRO... [PASS] (jazzy)
Checking TURTLEBOT3_MODEL... [PASS] (burger)
Checking GZ_VERSION... [PASS] (harmonic)

4. Directory Structure
----------------------------------------
Checking workspace... [PASS]
Checking source directory... [PASS]
Checking TurtleBot3 source... [PASS]

5. Build Status
----------------------------------------
Checking build directory... [PASS]
Checking install directory... [PASS]

==========================================
Verification Results
==========================================
Tests Passed: 15
Tests Failed: 0

[OK] All critical checks passed!

Your TurtleBot3 Jazzy environment is ready!

Quick start:
  1. Terminal 1: tb3_empty
  2. Terminal 2: tb3_teleop
  3. Access VNC at http://localhost:6080

==========================================

With failures

2. ROS2 Package Checks
----------------------------------------
Testing: TurtleBot3 packages... [FAIL]
Testing: Navigation2 packages... [PASS]
Testing: Cartographer packages... [PASS]

...

==========================================
Verification Results
==========================================
Tests Passed: 12
Tests Failed: 1

[FAIL] Some checks failed

Please review the failed tests above.
Try rebuilding the workspace with: cb

==========================================

Use cases

After first container creation

Verify everything is set up correctly:

bash .devcontainer/verify-setup.sh

Troubleshooting issues

When something doesn’t work, run to identify the problem:

bash .devcontainer/verify-setup.sh

After making changes

Verify environment is still functional:

bash .devcontainer/verify-setup.sh

Capture environment status:

bash .devcontainer/verify-setup.sh > setup-status.txt

Exit codes

The script always exits with code 0, regardless of test results. Check the output for actual status.

Customization

To add custom tests, use the test_command function:

if test_command "Custom test" "your-command-here"; then
    ((passed++))
else
    ((failed++))
fi

Or for environment variable checks:

echo -n "Checking MY_VAR... "
if [ "$MY_VAR" = "expected_value" ]; then
    echo -e "${GREEN}[PASS]${NC}"
    ((passed++))
else
    echo -e "${RED}[FAIL]${NC}"
    ((failed++))
fi

Project Structure

Scripts

Commands & Aliases

Troubleshooting

Overview

Usage

Script structure

Header

Color codes

Test function

Test counters

Environment sourcing

Test categories

1. System checks

2. ROS2 package checks

3. Environment variables

4. Directory structure

5. Build status

Results summary

Success output

Failure output

Example output

All tests passing

With failures

Use cases

After first container creation

Troubleshooting issues

After making changes

Exit codes

Customization

Build docs developers (and LLMs) love

Project Structure

Scripts

Commands & Aliases

Troubleshooting

​Overview

​Usage

​Script structure

​Header

​Color codes

​Test function

​Test counters

​Environment sourcing

​Test categories

​1. System checks

​2. ROS2 package checks

​3. Environment variables

​4. Directory structure

​5. Build status

​Results summary

​Success output

​Failure output

​Example output

​All tests passing

​With failures

​Use cases

​After first container creation

​Troubleshooting issues

​After making changes

​Documentation or sharing

​Exit codes

​Customization

Build docs developers (and LLMs) love

Overview

Usage

Script structure

Header

Color codes

Test function

Test counters

Environment sourcing

Test categories

1. System checks

2. ROS2 package checks

3. Environment variables

4. Directory structure

5. Build status

Results summary

Success output

Failure output

Example output

All tests passing

With failures

Use cases

After first container creation

Troubleshooting issues

After making changes

Documentation or sharing

Exit codes

Customization