# Source this before running robot nodes on the Pi:  source ~/robot-env.sh
#  - ROS Jazzy, then the overlay workspaces (camera_ros built against the fork; hermes_* packages)
#  - the Raspberry Pi libcamera fork ahead of ROS's own copy (same soname, but ROS's crashes in the
#    Pi image plugin: see CONTEXT.md)
#  - ~/venv's site-packages first: Blinka/Adafruit for the display, OpenCV 4.10 for YuNet
#  - a fixed ROS domain (42), discovery on this machine only. DDS has no authentication and the
#    camera and recognised names travel on it: set ROBOT_ROS_DISCOVERY=SUBNET only to
#    reach it from a host over the USB link (the firewall drops DDS ports on every other interface)
source /opt/ros/jazzy/setup.bash
[ -f "$HOME/camera_ws/install/setup.bash" ] && source "$HOME/camera_ws/install/setup.bash"
[ -f "$HOME/ros_ws/install/setup.bash" ] && source "$HOME/ros_ws/install/setup.bash"
export LD_LIBRARY_PATH="/opt/libcamera-rpi/lib/aarch64-linux-gnu:${LD_LIBRARY_PATH:-}"
export PYTHONPATH="$HOME/venv/lib/python3.12/site-packages:${PYTHONPATH:-}"
export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-42}"
# ROS's own setup script exports SUBNET, so a ${VAR:-default} on the ROS variable would never apply
export ROS_AUTOMATIC_DISCOVERY_RANGE="${ROBOT_ROS_DISCOVERY:-LOCALHOST}"