From f564d20c5be494dea178ec206e081c45e3e29f42 Mon Sep 17 00:00:00 2001
From: Artem Smirnov <urpylka@gmail.com>
Date: Wed, 20 Jun 2018 14:34:01 +0300
Subject: [PATCH] image_builder: add fixed rosinstall file

---
 image_builder/build.Jenkinsfile           |   4 +-
 image_builder/image_config.sh             |  57 ++
 image_builder/kinetic-ros-coex.rosinstall | 680 ++++++++++++++++++++++
 image_builder/scripts/ros_install.sh      |  41 +-
 4 files changed, 765 insertions(+), 17 deletions(-)
 create mode 100644 image_builder/kinetic-ros-coex.rosinstall

diff --git a/image_builder/build.Jenkinsfile b/image_builder/build.Jenkinsfile
index 88774045..388e20de 100644
--- a/image_builder/build.Jenkinsfile
+++ b/image_builder/build.Jenkinsfile
@@ -68,9 +68,11 @@ pipeline {
     stage('Install ROS') {
       environment {
         EXECUTE_FILE = 'image_builder/scripts/ros_install.sh'
+        MOVE_FILE = 'image_builder/kinetic-ros-coex.rosinstall'
       }
       steps {
-        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$EXECUTE_FILE"
+        sh "$WORKSPACE/image_builder/image_config.sh copy_to_chroot ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$MOVE_FILE"
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$EXECUTE_FILE ${params.GWBT_URL} DONT_DISCOVER"
       }
     }
     // TODO: Add finalising step, transfer mirror removal from ros.sh
diff --git a/image_builder/image_config.sh b/image_builder/image_config.sh
index cadd7d65..0e1e6bcf 100755
--- a/image_builder/image_config.sh
+++ b/image_builder/image_config.sh
@@ -212,6 +212,59 @@ execute() {
   umount_system $2 $DEV_IMAGE
 }
 
+copy_to_chroot() {
+
+  # STATIC FUNCTION
+  # TEMPLATE: copy_to_chroot $IMAGE $MOUNT_POINT $MOVE_FILE
+
+  # Partitions numbers
+  local BOOT_PARTITION=1
+  local ROOT_PARTITION=2
+
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  local DEV_IMAGE=$(losetup -Pf $1 --show)
+  sleep 0.5
+
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount "${DEV_IMAGE}p${ROOT_PARTITION}" $2
+  mount "${DEV_IMAGE}p${BOOT_PARTITION}" $2/boot
+
+  echo -e "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
+  echo "Mounting /proc in chroot... "
+  if [ ! -d $2/proc ] ; then
+    mkdir -p $2/proc
+    echo "Created $2/proc"
+  fi
+  mount -t proc -o nosuid,noexec,nodev proc $2/proc \
+    && echo "OK"
+
+  echo "Mounting /sys in chroot... "
+  if [ ! -d $2/sys ] ; then
+    mkdir -p $2/sys
+    echo "Created $2/sys"
+  fi
+  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys \
+    && echo "OK"
+
+  echo "Mounting /dev/ and /dev/pts in chroot... " \
+    && mkdir -p -m 755 $2/dev/pts \
+    && mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev \
+    && mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts \
+    && echo "OK"
+
+  echo -e "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m" \
+    && cp -L /etc/resolv.conf $2/etc/resolv.conf
+
+  echo -e "\033[0;31m\033[1m$(date) | Enter chroot\033[0m\033[0m"
+  script_name=$(basename $3)
+  script_path_root="$2/root/$script_name"
+  # Copy script into chroot fs
+  # TODO: Find more suitable location for temporary script storage
+  cp "$3" "$script_path_root"
+
+  umount_system $2 $DEV_IMAGE
+}
+
 umount_system() {
 
   # STATIC FUNCTION
@@ -336,6 +389,10 @@ case "$1" in
   # execute $IMAGE $MOUNT_POINT $EXECUTE_FILE ...
     execute $2 $3 $4 ${@:5};;
 
+  copy_to_chroot)
+  # copy_to_chroot $IMAGE $MOUNT_POINT $MOVE_FILE
+    copy_to_chroot $2 $3 $4;;
+
   *)
     echo "Enter one of: mount_system, get_image, resize_fs, publish_image, execute";;
 esac
diff --git a/image_builder/kinetic-ros-coex.rosinstall b/image_builder/kinetic-ros-coex.rosinstall
new file mode 100644
index 00000000..f5b7c7eb
--- /dev/null
+++ b/image_builder/kinetic-ros-coex.rosinstall
@@ -0,0 +1,680 @@
+- tar:
+    local-name: catkin
+    uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.11-0.tar.gz
+    version: catkin-release-release-kinetic-catkin-0.7.11-0
+- tar:
+    local-name: cmake_modules
+    uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.1-0.tar.gz
+    version: cmake_modules-release-release-kinetic-cmake_modules-0.4.1-0
+- tar:
+    local-name: gencpp
+    uri: https://github.com/ros-gbp/gencpp-release/archive/release/kinetic/gencpp/0.6.0-0.tar.gz
+    version: gencpp-release-release-kinetic-gencpp-0.6.0-0
+- tar:
+    local-name: geneus
+    uri: https://github.com/tork-a/geneus-release/archive/release/kinetic/geneus/2.2.6-0.tar.gz
+    version: geneus-release-release-kinetic-geneus-2.2.6-0
+- tar:
+    local-name: genlisp
+    uri: https://github.com/ros-gbp/genlisp-release/archive/release/kinetic/genlisp/0.4.16-0.tar.gz
+    version: genlisp-release-release-kinetic-genlisp-0.4.16-0
+- tar:
+    local-name: genmsg
+    uri: https://github.com/ros-gbp/genmsg-release/archive/release/kinetic/genmsg/0.5.10-0.tar.gz
+    version: genmsg-release-release-kinetic-genmsg-0.5.10-0
+- tar:
+    local-name: gennodejs
+    uri: https://github.com/RethinkRobotics-release/gennodejs-release/archive/release/kinetic/gennodejs/2.0.1-0.tar.gz
+    version: gennodejs-release-release-kinetic-gennodejs-2.0.1-0
+- tar:
+    local-name: genpy
+    uri: https://github.com/ros-gbp/genpy-release/archive/release/kinetic/genpy/0.6.7-0.tar.gz
+    version: genpy-release-release-kinetic-genpy-0.6.7-0
+- tar:
+    local-name: message_generation
+    uri: https://github.com/ros-gbp/message_generation-release/archive/release/kinetic/message_generation/0.4.0-0.tar.gz
+    version: message_generation-release-release-kinetic-message_generation-0.4.0-0
+- tar:
+    local-name: message_runtime
+    uri: https://github.com/ros-gbp/message_runtime-release/archive/release/kinetic/message_runtime/0.4.12-0.tar.gz
+    version: message_runtime-release-release-kinetic-message_runtime-0.4.12-0
+- tar:
+    local-name: ros/mk
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/mk/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-mk-1.14.3-0
+- tar:
+    local-name: ros/ros
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/ros/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-ros-1.14.3-0
+- tar:
+    local-name: ros/rosbash
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosbash/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosbash-1.14.3-0
+- tar:
+    local-name: ros/rosboost_cfg
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosboost_cfg/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosboost_cfg-1.14.3-0
+- tar:
+    local-name: ros/rosbuild
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosbuild/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosbuild-1.14.3-0
+- tar:
+    local-name: ros/rosclean
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosclean/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosclean-1.14.3-0
+- tar:
+    local-name: ros/roscreate
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roscreate/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roscreate-1.14.3-0
+- tar:
+    local-name: ros/roslang
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslang/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roslang-1.14.3-0
+- tar:
+    local-name: ros/roslib
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslib/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roslib-1.14.3-0
+- tar:
+    local-name: ros/rosmake
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosmake/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosmake-1.14.3-0
+- tar:
+    local-name: ros/rosunit
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosunit/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosunit-1.14.3-0
+- tar:
+    local-name: ros_comm/message_filters
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/message_filters/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-message_filters-1.12.13-0
+- tar:
+    local-name: ros_comm/ros_comm
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/ros_comm/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-ros_comm-1.12.13-0
+- tar:
+    local-name: ros_comm/rosbag
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag-1.12.13-0
+- tar:
+    local-name: ros_comm/rosbag_storage
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag_storage/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag_storage-1.12.13-0
+- tar:
+    local-name: ros_comm/rosconsole
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosconsole/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosconsole-1.12.13-0
+- tar:
+    local-name: ros_comm/roscpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roscpp/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roscpp-1.12.13-0
+- tar:
+    local-name: ros_comm/rosgraph
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosgraph/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosgraph-1.12.13-0
+- tar:
+    local-name: ros_comm/roslaunch
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslaunch/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslaunch-1.12.13-0
+- tar:
+    local-name: ros_comm/roslz4
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslz4/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslz4-1.12.13-0
+- tar:
+    local-name: ros_comm/rosmaster
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosmaster/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosmaster-1.12.13-0
+- tar:
+    local-name: ros_comm/rosmsg
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosmsg/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosmsg-1.12.13-0
+- tar:
+    local-name: ros_comm/rosnode
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosnode/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosnode-1.12.13-0
+- tar:
+    local-name: ros_comm/rosout
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosout/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosout-1.12.13-0
+- tar:
+    local-name: ros_comm/rosparam
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosparam/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosparam-1.12.13-0
+- tar:
+    local-name: ros_comm/rospy
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rospy/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rospy-1.12.13-0
+- tar:
+    local-name: ros_comm/rosservice
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosservice/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosservice-1.12.13-0
+- tar:
+    local-name: ros_comm/rostest
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rostest/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rostest-1.12.13-0
+- tar:
+    local-name: ros_comm/rostopic
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rostopic/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rostopic-1.12.13-0
+- tar:
+    local-name: ros_comm/roswtf
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roswtf/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roswtf-1.12.13-0
+- tar:
+    local-name: ros_comm/topic_tools
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/topic_tools/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-topic_tools-1.12.13-0
+- tar:
+    local-name: ros_comm/xmlrpcpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/xmlrpcpp/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-xmlrpcpp-1.12.13-0
+- tar:
+    local-name: ros_comm_msgs/rosgraph_msgs
+    uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/rosgraph_msgs/1.11.2-0.tar.gz
+    version: ros_comm_msgs-release-release-kinetic-rosgraph_msgs-1.11.2-0
+- tar:
+    local-name: ros_comm_msgs/std_srvs
+    uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/std_srvs/1.11.2-0.tar.gz
+    version: ros_comm_msgs-release-release-kinetic-std_srvs-1.11.2-0
+- tar:
+    local-name: ros_environment
+    uri: https://github.com/ros-gbp/ros_environment-release/archive/release/kinetic/ros_environment/1.0.0-0.tar.gz
+    version: ros_environment-release-release-kinetic-ros_environment-1.0.0-0
+- tar:
+    local-name: roscpp_core/cpp_common
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/cpp_common/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-cpp_common-0.6.9-0
+- tar:
+    local-name: roscpp_core/roscpp_serialization
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_serialization/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-roscpp_serialization-0.6.9-0
+- tar:
+    local-name: roscpp_core/roscpp_traits
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_traits/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-roscpp_traits-0.6.9-0
+- tar:
+    local-name: roscpp_core/rostime
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/rostime/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-rostime-0.6.9-0
+- tar:
+    local-name: roslisp
+    uri: https://github.com/ros-gbp/roslisp-release/archive/release/kinetic/roslisp/1.9.21-0.tar.gz
+    version: roslisp-release-release-kinetic-roslisp-1.9.21-0
+- tar:
+    local-name: rospack
+    uri: https://github.com/ros-gbp/rospack-release/archive/release/kinetic/rospack/2.4.4-0.tar.gz
+    version: rospack-release-release-kinetic-rospack-2.4.4-0
+- tar:
+    local-name: std_msgs
+    uri: https://github.com/ros-gbp/std_msgs-release/archive/release/kinetic/std_msgs/0.5.11-0.tar.gz
+    version: std_msgs-release-release-kinetic-std_msgs-0.5.11-0
+- tar:
+    local-name: actionlib
+    uri: https://github.com/ros-gbp/actionlib-release/archive/release/kinetic/actionlib/1.11.13-0.tar.gz
+    version: actionlib-release-release-kinetic-actionlib-1.11.13-0
+- tar:
+    local-name: angles
+    uri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/kinetic/angles/1.9.11-0.tar.gz
+    version: geometry_angles_utils-release-release-kinetic-angles-1.9.11-0
+- tar:
+    local-name: async_web_server_cpp
+    uri: https://github.com/gt-rail-release/async_web_server_cpp-release/archive/release/kinetic/async_web_server_cpp/0.0.3-0.tar.gz
+    version: async_web_server_cpp-release-release-kinetic-async_web_server_cpp-0.0.3-0
+- tar:
+    local-name: bond_core/bond
+    uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond/1.8.1-0.tar.gz
+    version: bond_core-release-release-kinetic-bond-1.8.1-0
+- tar:
+    local-name: bond_core/bond_core
+    uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond_core/1.8.1-0.tar.gz
+    version: bond_core-release-release-kinetic-bond_core-1.8.1-0
+- tar:
+    local-name: bond_core/bondcpp
+    uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondcpp/1.8.1-0.tar.gz
+    version: bond_core-release-release-kinetic-bondcpp-1.8.1-0
+- tar:
+    local-name: bond_core/bondpy
+    uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondpy/1.8.1-0.tar.gz
+    version: bond_core-release-release-kinetic-bondpy-1.8.1-0
+- tar:
+    local-name: bond_core/smclib
+    uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/smclib/1.8.1-0.tar.gz
+    version: bond_core-release-release-kinetic-smclib-1.8.1-0
+- tar:
+    local-name: catkin
+    uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.11-0.tar.gz
+    version: catkin-release-release-kinetic-catkin-0.7.11-0
+- tar:
+    local-name: class_loader
+    uri: https://github.com/ros-gbp/class_loader-release/archive/release/kinetic/class_loader/0.3.9-0.tar.gz
+    version: class_loader-release-release-kinetic-class_loader-0.3.9-0
+- tar:
+    local-name: cmake_modules
+    uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.1-0.tar.gz
+    version: cmake_modules-release-release-kinetic-cmake_modules-0.4.1-0
+- tar:
+    local-name: common_msgs/actionlib_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/actionlib_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-actionlib_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/diagnostic_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/diagnostic_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-diagnostic_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/geometry_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/geometry_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-geometry_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/nav_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/nav_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-nav_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/sensor_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/sensor_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-sensor_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/stereo_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/stereo_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-stereo_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/trajectory_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/trajectory_msgs/1.12.6-0.tar.gz
+    version: common_msgs-release-release-kinetic-trajectory_msgs-1.12.6-0
+- tar:
+    local-name: common_msgs/visualization_msgs
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+    uri: https://github.com/ros-gbp/roslint-release/archive/release/kinetic/roslint/0.11.0-0.tar.gz
+    version: roslint-release-release-kinetic-roslint-0.11.0-0
+- tar:
+    local-name: roslisp
+    uri: https://github.com/ros-gbp/roslisp-release/archive/release/kinetic/roslisp/1.9.21-0.tar.gz
+    version: roslisp-release-release-kinetic-roslisp-1.9.21-0
+- tar:
+    local-name: rospack
+    uri: https://github.com/ros-gbp/rospack-release/archive/release/kinetic/rospack/2.4.4-0.tar.gz
+    version: rospack-release-release-kinetic-rospack-2.4.4-0
+- tar:
+    local-name: rosserial/rosserial
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial-0.7.7-0
+- tar:
+    local-name: rosserial/rosserial_client
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial_client/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial_client-0.7.7-0
+- tar:
+    local-name: rosserial/rosserial_msgs
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial_msgs/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial_msgs-0.7.7-0
+- tar:
+    local-name: rosserial/rosserial_python
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial_python/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial_python-0.7.7-0
+- tar:
+    local-name: std_msgs
+    uri: https://github.com/ros-gbp/std_msgs-release/archive/release/kinetic/std_msgs/0.5.11-0.tar.gz
+    version: std_msgs-release-release-kinetic-std_msgs-0.5.11-0
+- tar:
+    local-name: unique_identifier/uuid_msgs
+    uri: https://github.com/ros-geographic-info/unique_identifier-release/archive/release/kinetic/uuid_msgs/1.0.5-0.tar.gz
+    version: unique_identifier-release-release-kinetic-uuid_msgs-1.0.5-0
+- tar:
+    local-name: urdf/urdf
+    uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf/1.12.12-0.tar.gz
+    version: urdf-release-release-kinetic-urdf-1.12.12-0
+- tar:
+    local-name: urdf/urdf_parser_plugin
+    uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf_parser_plugin/1.12.12-0.tar.gz
+    version: urdf-release-release-kinetic-urdf_parser_plugin-1.12.12-0
+- tar:
+    local-name: usb_cam
+    uri: https://github.com/ros-gbp/usb_cam-release/archive/release/kinetic/usb_cam/0.3.5-0.tar.gz
+    version: usb_cam-release-release-kinetic-usb_cam-0.3.5-0
+- tar:
+    local-name: vision_opencv/cv_bridge
+    uri: https://github.com/ros-gbp/vision_opencv-release/archive/release/kinetic/cv_bridge/1.12.8-0.tar.gz
+    version: vision_opencv-release-release-kinetic-cv_bridge-1.12.8-0
+- tar:
+    local-name: web_video_server
+    uri: https://github.com/RobotWebTools-release/web_video_server-release/archive/release/kinetic/web_video_server/0.0.7-0.tar.gz
+    version: web_video_server-release-release-kinetic-web_video_server-0.0.7-0
diff --git a/image_builder/scripts/ros_install.sh b/image_builder/scripts/ros_install.sh
index 79e0daa6..60c08912 100755
--- a/image_builder/scripts/ros_install.sh
+++ b/image_builder/scripts/ros_install.sh
@@ -9,7 +9,7 @@ set -e
 # ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
 # maintainer @urpylka
 
-echo -e "\033[0;31m\033[1m$(date) | #0 Installing ROS\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | Installing ROS\033[0m\033[0m"
 
 echo -e "\033[0;31m\033[1m$(date) | #1 Installing dirmngr & add key to apt-key\033[0m\033[0m"
 
@@ -42,21 +42,31 @@ echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0
 # bootstrap rosdep
 rosdep init && rosdep update
 
-echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
+# If $2 not used, then discover packages
+if [[ -z $2 ]];
+then
+  echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
 
-# create catkin workspace
-mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
-    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
-    && wstool init src kinetic-ros_comm-wet.rosinstall
+  # create ros catkin workspace
+  mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+      && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
+      && wstool init src kinetic-ros_comm-wet.rosinstall
 
-echo -e "\033[0;31m\033[1m$(date) | #6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1m$(date) | #6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
 
-cd /home/pi/ros_catkin_ws \
-  && rosinstall_generator \
-  actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
-  --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
-  && wstool merge -t src kinetic-custom_ros.rosinstall \
-  && wstool update -t src
+  cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator \
+    actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
+    --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
+    && wstool merge -t src kinetic-custom_ros.rosinstall \
+    && wstool update -t src
+else
+  echo -e "\033[0;31m\033[1m$(date) | #5 Creating manual ros_catkin_ws\033[0m\033[0m"
+
+  mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && mv /root/kinetic-ros-coex.rosinstall kinetic-ros-coex.rosinstall \
+    && wstool init src kinetic-ros-coex.rosinstall
+fi
 
 echo -e "\033[0;31m\033[1m$(date) | #7 Installing dependencies apps with rosdep\033[0m\033[0m"
 cd /home/pi/ros_catkin_ws
@@ -88,7 +98,6 @@ set -e
 [[ "$install_ok" == true ]]
 echo -e "\033[0;31m\033[1m$(date) | End of rosdep install\033[0m\033[0m"
 
-
 echo -e "\033[0;31m\033[1m$(date) | #8 Refactoring usb_cam in SRC\033[0m\033[0m"
 
 sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
@@ -122,7 +131,7 @@ chown -Rf pi:pi /home/pi/ros_catkin_ws
 
 echo -e "\033[0;31m\033[1m$(date) | #12 Creating catkin_ws & Installing CLEVER-BUNDLE\033[0m\033[0m"
 
-git clone https://github.com/CopterExpress/clever.git /home/pi/catkin_ws/src/clever \
+git clone $1 /home/pi/catkin_ws/src/clever \
   && pip install wheel \
   && pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
   && cd /home/pi/catkin_ws \
@@ -154,4 +163,4 @@ apt-get clean
 # Remove local mirror repository key
 #apt-key del COEX-MIRROR
 
-echo -e "\033[0;31m\033[1m$(date) | #15 END of ROS INSTALLATION\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | END of ROS INSTALLATION\033[0m\033[0m"