Install start ursim (#155)

* Install start_ursim.sh file

This way we can use it from the driver packages and don't have to duplicate code

* Fix execution bit

* Install external control URCap on URSim

* use catkin_install_python when available

* Do not ust catkin_install_python since it is not a python script...

Author: Felix Exner (fexner)

CMakeLists.txt

@@ -89,6 +89,16 @@ install(EXPORT urcl_targets
   FILE urclTargets.cmake
   NAMESPACE ur_client_library::)
 
+if(CATKIN_PACKAGE_BIN_DESTINATION)
+  install(PROGRAMS scripts/start_ursim.sh
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+else()
+  install(PROGRAMS scripts/start_ursim.sh
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endif()
+
 include(CMakePackageConfigHelpers)
 write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/ur_client_libraryConfigVersion.cmake VERSION 0.0.3
   COMPATIBILITY SameMajorVersion)

scripts/start_ursim.sh

@@ -29,6 +29,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 PERSISTENT_BASE="${HOME}/.ursim"
+URCAP_VERSION="1.0.5"
 
 help()
 {
@@ -138,6 +139,12 @@ mkdir -p "${PROGRAM_STORAGE}"
 URCAP_STORAGE=$(realpath "$URCAP_STORAGE")
 PROGRAM_STORAGE=$(realpath "$PROGRAM_STORAGE")
 
+# Download external_control URCap
+if [[ ! -f "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" ]]; then
+  curl -L -o "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" \
+    "https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases/download/v${URCAP_VERSION}/externalcontrol-${URCAP_VERSION}.jar"
+fi
+
 
 # Check whether network already exists
 docker network inspect ursim_net > /dev/null