From 4dc4b5a37927dfa9c50c6e1368e61c1faf24647b Mon Sep 17 00:00:00 2001
From: default <adithcool.5@gmail.com>
Date: Sat, 10 Jan 2026 22:04:30 +0000
Subject: [PATCH] install script changes for Ubuntu 25

---
 setup/install_ubuntu.sh | 38 +++++++++++++++++++++++++++++---------
 1 file changed, 29 insertions(+), 9 deletions(-)

diff --git a/setup/install_ubuntu.sh b/setup/install_ubuntu.sh
index 3874cf7..17c588a 100755
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -94,23 +94,42 @@ echo "[STEP 2/$TOTAL_STEPS] Installing ROS 2..."
 # Add ROS 2 GPG key
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-# Determine ROS 2 distro based on Ubuntu version
+# Determine ROS 2 distro and repository codename based on Ubuntu version
+# ROS 2 only has repositories for specific Ubuntu LTS versions
+# For newer/unsupported versions, we use the closest compatible LTS repository
 if [ "$UBUNTU_VERSION" = "24.04" ]; then
     ROS_DISTRO="jazzy"
+    ROS_UBUNTU_CODENAME="noble"
 elif [ "$UBUNTU_VERSION" = "22.04" ]; then
     ROS_DISTRO="humble"
+    ROS_UBUNTU_CODENAME="jammy"
 else
-    echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported, trying humble"
-    ROS_DISTRO="humble"
+    # For Ubuntu versions newer than 24.04, use Jazzy with noble repositories
+    # This provides best compatibility for cutting-edge Ubuntu versions
+    UBUNTU_MAJOR=$(echo "$UBUNTU_VERSION" | cut -d. -f1)
+    if [ "$UBUNTU_MAJOR" -ge 24 ] 2>/dev/null; then
+        echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported by ROS 2"
+        echo "[INFO] Using ROS 2 Jazzy with Ubuntu 24.04 (noble) repositories"
+        ROS_DISTRO="jazzy"
+        ROS_UBUNTU_CODENAME="noble"
+    else
+        echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported, trying humble"
+        ROS_DISTRO="humble"
+        ROS_UBUNTU_CODENAME="jammy"
+    fi
 fi
 
-echo "[INFO] Using ROS 2 $ROS_DISTRO"
+echo "[INFO] Using ROS 2 $ROS_DISTRO (repository: $ROS_UBUNTU_CODENAME)"
 
-# Add repository
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+# Add repository using the compatible Ubuntu codename
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $ROS_UBUNTU_CODENAME main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 sudo apt-get update
-sudo apt-get install -y ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-sensor-msgs
+sudo apt-get install -y ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-sensor-msgs || {
+    echo "[ERROR] Failed to install ROS 2 $ROS_DISTRO"
+    echo "[INFO] This may be due to library incompatibilities with Ubuntu $UBUNTU_VERSION"
+    echo "[INFO] Consider using Ubuntu 22.04 or 24.04 for full ROS 2 support"
+}
 
 # Install ros-gz bridge
 sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
@@ -125,9 +144,10 @@ echo "[OK] ROS 2 $ROS_DISTRO installed"
 echo ""
 echo "[STEP 3/$TOTAL_STEPS] Installing Gazebo..."
 
-# Add Gazebo repository
+# Add Gazebo repository (use compatible Ubuntu codename if needed)
+GZ_UBUNTU_CODENAME="${ROS_UBUNTU_CODENAME:-$(lsb_release -cs)}"
 sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $GZ_UBUNTU_CODENAME main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 sudo apt-get update
 
 # Install Gazebo Harmonic (preferred) or Garden as fallback