From 090701970cadc9b020009ec47ef4b36a843cd9b5 Mon Sep 17 00:00:00 2001
From: "Sathiyamoorthi, Jayabalaji" <jayabalaji.sathiyamoorthi@intel.com>
Date: Mon, 3 Mar 2025 21:44:08 +0100
Subject: [PATCH] Fixed bash script all the errors and warnings reported by
 shellcheck tool

Signed-off-by: Sathiyamoorthi, Jayabalaji <jayabalaji.sathiyamoorthi@intel.com>
---
 .../ros2_openvino_toolkit_test/docker_run.sh  |  38 +++---
 .../ros2_openvino_tool_model_download.sh      |  10 +-
 .../test_cases/run.sh                         |   9 +-
 .../test_cases/yolov5_model_download.sh       |  20 ++-
 .../test_cases/yolov8_model_download.sh       |   6 +-
 script/environment_setup.sh                   | 114 +++++++++---------
 script/environment_setup_binary.sh            | 102 ++++++++--------
 script/set_variable.sh                        |   4 +-
 8 files changed, 144 insertions(+), 159 deletions(-)

diff --git a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
index 91a19139..b1ba19a8 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
@@ -1,43 +1,33 @@
 #!/bin/bash
 
 export DISPLAY=:0
-
 export work_dir=$PWD
 
-
-function run_container() {
-
-    docker images | grep ros2_openvino_docker
-
-    if [ $? -eq 0 ]
-    then
-        echo "the image of ros2_openvino_docker:01 existence"
+function run_container() 
+{ 
+    if docker images -q ros2_openvino_docker:01 &>/dev/null; then
+        echo "The container ros2_openvino_docker:01 image exists"
         docker rmi -f ros2_openvino_docker:01
     fi
 
     docker ps -a | grep ros2_openvino_container
-    if [ $? -eq 0 ]
-    then
+    if docker ps -aq -f name=ros2_openvino_container; then
+        echo "The container ros2_openvino_container exists. Removing the container..."
         docker rm -f ros2_openvino_container
     fi
 
     # Removing some docker image ..
     # Using jenkins server ros2_openvino_toolkit code instead of git clone code.
-    cd $work_dir && sed -i '/RUN git clone -b ros2/d' Dockerfile
+    cd "$work_dir" && sed -i '/RUN git clone -b ros2/d' Dockerfile
     # add the jpg for test.
-    cd $work_dir && sed -i '$i COPY jpg /root/jpg' Dockerfile
-
-    cd $work_dir && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic  -t ros2_openvino_docker:01 .
-    cd $work_dir && docker images
-    docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit  -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE  -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container  ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic"
+    cd "$work_dir" && sed -i '$i COPY jpg /root/jpg' Dockerfile
 
+    cd "$work_dir" && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic  -t ros2_openvino_docker:01 .
+    cd "$work_dir" && docker images
+    docker run -i --privileged=true --device=/dev/dri -v "$work_dir"/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit  -v "$HOME"/.Xauthority:/root/.Xauthority -e GDK_SCALE  -v "$work_dir"/test_cases:/root/test_cases --name ros2_openvino_container  ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic"
 }
 
-run_container
-if [ $? -ne 0 ]
-then
-  echo "Test fail"
-  exit -1
+if ! run_container; then 
+  echo "Test failed"
+  exit 1
 fi
-
-
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh
index e2678f36..dd3d842e 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh
@@ -3,17 +3,16 @@
 mkdir -p /opt/openvino_toolkit/models
 #apt install -y python-pip
 apt install -y python3.8-venv
-cd ~ && python3 -m venv openvino_env && source openvino_env/bin/activate
+cd ~ && python3 -m venv openvino_env
+#shellcheck source=/dev/null
+source openvino_env/bin/activate
 python -m pip install --upgrade pip
-pip install openvino-dev[tensorflow2,onnx]==2022.3
-
+pip install "openvino-dev[tensorflow2,onnx]==2022.3"
 
 #Download the optimized Intermediate Representation (IR) of model (execute once)
 cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/
-
 cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert
 
-
 #Copy label files (execute once)
 cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/
 cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/
@@ -27,4 +26,3 @@ cp /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_resnet_v2_atr
 
 cd /root/test_cases/ && ./yolov5_model_download.sh
 cd /root/test_cases/ && ./yolov8_model_download.sh
-
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh
index d13dd828..8e0af8c8 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh
@@ -7,10 +7,12 @@ then
 else
     export ros2_branch=$1
 fi
-source /root/test_cases/config.sh $ros2_branch
+#shellcheck source=/dev/null
+source /root/test_cases/config.sh "$ros2_branch"
 
 cd /root/catkin_ws && colcon build --symlink-install
-cd /root/catkin_ws && source ./install/local_setup.bash
+# shellcheck source=/dev/null 
+source ./install/local_setup.bash
 
 apt-get update
 # apt-get install -y ros-$ros2_branch-diagnostic-updater
@@ -31,6 +33,5 @@ result=$?
 echo "Test ENV:" && df -h && free -g
 if [ $result -ne 0 ]
 then
-        exit -1
+        exit 1
 fi
-
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh
index f3e50d3b..d5c4a7a8 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh
@@ -5,34 +5,32 @@ cd /root && git clone https://github.com/ultralytics/yolov5.git
 
 #Set Environment for Installing YOLOv5
 
-cd yolov5
+cd yolov5 || exit
 python3 -m venv yolo_env            # Create a virtual python environment
+# shellcheck source=/dev/null 
 source yolo_env/bin/activate        # Activate environment
 pip install -r requirements.txt     # Install yolov5 prerequisites
 pip install wheel
 pip install onnx
 
 # Download PyTorch Weights
-mkdir -p /root/yolov5/model_convert && cd /root/yolov5/model_convert
+mkdir -p /root/yolov5/model_convert && cd /root/yolov5/model_convert || exit
 wget https://github.com/ultralytics/yolov5/releases/download/v6.2/yolov5n.pt
 
-cd /root/yolov5
+cd /root/yolov5 || exit
 python3 export.py --weights model_convert/yolov5n.pt --include onnx
 
-
 #2. Convert ONNX files to IR files
-cd /root/yolov5/
+cd /root/yolov5/ || exit
 python3 -m venv ov_env                      # Create openVINO virtual environment
+# shellcheck source=/dev/null 
 source ov_env/bin/activate                  # Activate environment
 python -m pip install --upgrade pip         # Upgrade pip
-pip install openvino[onnx]==2022.3.0        # Install OpenVINO for ONNX
-pip install openvino-dev[onnx]==2022.3.0    # Install OpenVINO Dev Tool for ONNX
-
+pip install "openvino[onnx]==2022.3.0"        # Install OpenVINO for ONNX
+pip install "openvino-dev[onnx]==2022.3.0"    # Install OpenVINO Dev Tool for ONNX
 
-cd /root/yolov5/model_convert
+cd /root/yolov5/model_convert || exit
 mo --input_model yolov5n.onnx
 
-
 mkdir -p  /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/
 sudo cp yolov5n.bin yolov5n.mapping yolov5n.xml /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/
-
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh
index a3879291..bca0df7a 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh
@@ -2,23 +2,21 @@
 
 #Pip install the ultralytics package including all requirements in a Python>=3.7 environment with PyTorch>=1.7.
 
-mkdir -p yolov8 && cd yolov8
+mkdir -p yolov8 && cd yolov8 || exit
 pip install ultralytics
 apt install python3.8-venv
 python3 -m venv openvino_env
+# shellcheck source=/dev/null 
 source openvino_env/bin/activate
 
-
 #Export a YOLOv8n model to a different format like ONNX, CoreML, etc.
 # export official model
 yolo export model=yolov8n.pt format=openvino
 yolo export model=yolov8n-seg.pt format=openvino
 
-
 # Move to the Recommended Model Path
 mkdir -p  /opt/openvino_toolkit/models/convert/public/FP32/yolov8n
 mkdir -p  /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg
 
 cp yolov8n_openvino_model/* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n
 cp yolov8n-seg_openvino_model/* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg
-
diff --git a/script/environment_setup.sh b/script/environment_setup.sh
index 371bba98..08a37790 100755
--- a/script/environment_setup.sh
+++ b/script/environment_setup.sh
@@ -3,43 +3,43 @@ set -euo pipefail
 
 echo "Please Enter Your Password:"
 stty -echo
-read ROOT_PASSWD
+read -r ROOT_PASSWD
 stty echo
 
 basedir=$PWD
 echo "Begin Environment Setup"
 
-system_ver=`cat /etc/lsb-release | grep -i "DISTRIB_RELEASE" | cut -d "=" -f2`
+system_ver=$(cat /etc/lsb-release | grep -i "DISTRIB_RELEASE" | cut -d "=" -f2)
 
 #Get Config Parameters
-CLEAN=`cat modules.conf | grep 'clean'`
+CLEAN=$(cat modules.conf | grep 'clean')
 CLEAN=${CLEAN##*=}
 echo "Set CLEAN to $CLEAN"
 
-ROS2_SRC=`cat modules.conf | grep 'ros2_src'`
+ROS2_SRC=$(cat modules.conf | grep 'ros2_src')
 ROS2_SRC=${ROS2_SRC##*=}
 echo "Set ROS2_SRC to $ROS2_SRC" 
-OPENCV=`cat modules.conf | grep 'opencv'`
+OPENCV=$(cat modules.conf | grep 'opencv')
 OPENCV=${OPENCV##*=}
 echo "Set OPENCV to $OPENCV"
 
-OPENCL=`cat modules.conf | grep 'opencl'`
+OPENCL=$(cat modules.conf | grep 'opencl')
 OPENCL=${OPENCL##*=}
 echo "Set OPENCL to $OPENCL"
 
-DLDT=`cat modules.conf | grep 'dldt'`
+DLDT=$(cat modules.conf | grep 'dldt')
 DLDT=${DLDT##*=}
 echo "Set DLDT to $DLDT"
 
-MODEL_ZOO=`cat modules.conf | grep 'model_zoo'`
+MODEL_ZOO=$(cat modules.conf | grep 'model_zoo')
 MODEL_ZOO=${MODEL_ZOO##*=}
 echo "Set MODEL_ZOO to $MODEL_ZOO"
 
-LIBREALSENSE=`cat modules.conf | grep 'librealsense'`
+LIBREALSENSE=$(cat modules.conf | grep 'librealsense')
 LIBREALSENSE=${LIBREALSENSE##*=}
 echo "Set LIBREALSENSE to $LIBREALSENSE"
 
-OTHER_DEPENDENCY=`cat modules.conf | grep 'other_dependency'`
+OTHER_DEPENDENCY=$(cat modules.conf | grep 'other_dependency')
 OTHER_DEPENDENCY=${OTHER_DEPENDENCY##*=}
 echo "Set OTHER_DEPENDENCY to $OTHER_DEPENDENCY"
 
@@ -48,17 +48,17 @@ echo "Set OTHER_DEPENDENCY to $OTHER_DEPENDENCY"
 if [ "$CLEAN" == "1" ]; then
   echo "===================Clean Existing Directories...===================================="
 
-  read -n1 -p "The clean operation will delete some manually created directories,
+  read -r -n1 -p "The clean operation will delete some manually created directories,
   including ~/code, ~/ros2_ws, /opt/intel, /opt/openvino_toolkit, and OpenVINO tar ball.
   Do you want to clean existing directories[Y/N]?" answer
   case $answer in
         Y|y) echo
                 echo "===================Cleaning...===================================="
-  		echo $ROOT_PASSWD | sudo -S rm -rf ~/code
+  		echo "$ROOT_PASSWD" | sudo -S rm -rf ~/code
   		rm -rf ~/ros2_ws
-  		echo $ROOT_PASSWD | sudo -S rm -rf /opt/openvino_toolkit
+  		echo "$ROOT_PASSWD" | sudo -S rm -rf /opt/openvino_toolkit
   		if [[ $system_ver = "16.04" && -L "/usr/lib/x86_64-linux-gnu/libboost_python3.so" ]]; then
-    			echo $ROOT_PASSWD | sudo -S rm /usr/lib/x86_64-linux-gnu/libboost_python3.so
+    			echo "$ROOT_PASSWD" | sudo -S rm /usr/lib/x86_64-linux-gnu/libboost_python3.so
   		fi
                 echo "===================Clean finish...====================================";;
         N|n) echo
@@ -70,25 +70,25 @@ fi
 if [ "$ROS2_SRC" == "1" ]; then
   echo "===================Installing ROS2 from Source...======================="
   
-  echo $ROOT_PASSWD | sudo -S locale-gen en_US en_US.UTF-8
-  echo $ROOT_PASSWD | sudo -S update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+  echo "$ROOT_PASSWD" | sudo -S locale-gen en_US en_US.UTF-8
+  echo "$ROOT_PASSWD" | sudo -S update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8
 
-  echo $ROOT_PASSWD | sudo -S apt-get update && sudo apt-get install -y curl
+  echo "$ROOT_PASSWD" | sudo -S apt-get update && sudo apt-get install -y curl
   curl http://repo.ros2.org/repos.key | sudo apt-key add -
-  echo $ROOT_PASSWD | sudo -S sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+  echo "$ROOT_PASSWD" | sudo -S sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
   if [ -n "$http_proxy" ]; then
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy="$http_proxy" --recv-key F42ED6FBAB17C654
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy="$http_proxy" --recv-key F42ED6FBAB17C654
   else
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F42ED6FBAB17C654
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F42ED6FBAB17C654
   fi
-  echo $ROOT_PASSWD | sudo -S apt-get update && sudo apt-get install -y build-essential cmake git python3-colcon-common-extensions python3-pip python-rosdep python3-vcstool wget
+  echo "$ROOT_PASSWD" | sudo -S apt-get update && sudo apt-get install -y build-essential cmake git python3-colcon-common-extensions python3-pip python-rosdep python3-vcstool wget
 
 # install some pip packages needed for testing
-  echo $ROOT_PASSWD | sudo -S -H python3 -m pip install -U argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures
+  echo "$ROOT_PASSWD" | sudo -S -H python3 -m pip install -U argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures
 
   python3 -m pip install -U pytest pytest-cov pytest-runner setuptools
-  echo $ROOT_PASSWD | sudo -S apt-get install --no-install-recommends -y libasio-dev libtinyxml2-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install --no-install-recommends -y libasio-dev libtinyxml2-dev
 
   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws
@@ -96,13 +96,13 @@ if [ "$ROS2_SRC" == "1" ]; then
   vcs-import src < ros2.repos
 
   if [ ! -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; then
-    echo $ROOT_PASSWD | sudo -S rosdep init
+    echo "$ROOT_PASSWD" | sudo -S rosdep init
   else
     echo "file already exists, skip..."
   fi
 
   rosdep update
-  if [ $system_ver = "16.04" ]; then
+  if [ "$system_ver" = "16.04" ]; then
     rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 python3-lark-parser rti-connext-dds-5.3.1 urdfdom_headers"
     colcon build --symlink-install --packages-ignore qt_gui_cpp rqt_gui_cpp
   else
@@ -115,16 +115,16 @@ fi
 if [ "$OPENCV" == "1" ]; then
   echo "===================Installing OpenCV3 from Source...======================="
   
-  echo $ROOT_PASSWD | sudo -S apt-get install -y build-essential
-  echo $ROOT_PASSWD | sudo -S apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
-  echo $ROOT_PASSWD | sudo -S apt-get install -y python-dev python-numpy libtbb2 libtbb-dev libpng-dev libtiff-dev libdc1394-22-dev
-
-  if [ $system_ver = "18.04" ]; then
-    echo $ROOT_PASSWD | sudo -S add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
-    echo $ROOT_PASSWD | sudo apt update
-    echo $ROOT_PASSWD | sudo apt install libjasper1 libjasper-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y build-essential
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y python-dev python-numpy libtbb2 libtbb-dev libpng-dev libtiff-dev libdc1394-22-dev
+
+  if [ "$system_ver" = "18.04" ]; then
+    echo "$ROOT_PASSWD" | sudo -S add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
+    echo "$ROOT_PASSWD" | sudo apt update
+    echo "$ROOT_PASSWD" | sudo apt install libjasper1 libjasper-dev
   else
-    echo $ROOT_PASSWD | sudo -S apt-get install libjasper-dev 
+    echo "$ROOT_PASSWD" | sudo -S apt-get install libjasper-dev 
   fi
 
   mkdir -p ~/code && cd ~/code
@@ -140,10 +140,10 @@ if [ "$OPENCV" == "1" ]; then
 
   cd ~/code/opencv
   mkdir build && cd build
-  cmake -DOPENCV_EXTRA_MODULES_PATH=$HOME/code/opencv_contrib/modules -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_opencv_cnn_3dobj=OFF ..
+  cmake -DOPENCV_EXTRA_MODULES_PATH="$HOME"/code/opencv_contrib/modules -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_opencv_cnn_3dobj=OFF ..
   make -j4
-  echo $ROOT_PASSWD | sudo -S make install
-  echo $ROOT_PASSWD | sudo -S ldconfig
+  echo "$ROOT_PASSWD" | sudo -S make install
+  echo "$ROOT_PASSWD" | sudo -S ldconfig
   
   echo "==== END install OpenCV ===="
 fi
@@ -158,7 +158,7 @@ if [ "$OPENCL" == "1" ]; then
   wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-igc-opencl_18.50.1270_amd64.deb
   wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-opencl_19.04.12237_amd64.deb
   wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-ocloc_19.04.12237_amd64.deb
-  echo $ROOT_PASSWD | sudo -S -E dpkg -i *.deb
+  echo "$ROOT_PASSWD" | sudo -S -E dpkg -i -- *.deb
 
   echo "==== END install OpenCL ===="
 fi
@@ -168,8 +168,8 @@ if [ "$DLDT" == "1" ]; then
   echo "===================Installing Deep Learning Deployment Toolkit...======================="
  
   if [[ -f /etc/lsb-release ]]; then
-    echo $ROOT_PASSWD | sudo -S -E apt update
-    echo $ROOT_PASSWD | sudo -S -E apt-get install -y \
+    echo "$ROOT_PASSWD" | sudo -S -E apt update
+    echo "$ROOT_PASSWD" | sudo -S -E apt-get install -y \
             build-essential \
             cmake \
             curl \
@@ -197,10 +197,10 @@ if [ "$DLDT" == "1" ]; then
             gstreamer1.0-plugins-base \
             libusb-1.0-0-dev \
             libopenblas-dev
-    if [ $system_ver = "18.04" ]; then
-            echo $ROOT_PASSWD | sudo -S -E apt-get install -y libpng-dev
+    if [ "$system_ver" = "18.04" ]; then
+            echo "$ROOT_PASSWD" | sudo -S -E apt-get install -y libpng-dev
     else
-            echo $ROOT_PASSWD | sudo -S -E apt-get install -y libpng12-dev
+            echo "$ROOT_PASSWD" | sudo -S -E apt-get install -y libpng12-dev
     fi
   fi
   mkdir -p  ~/code && cd ~/code
@@ -212,8 +212,8 @@ if [ "$DLDT" == "1" ]; then
   mkdir build && cd build
   cmake -DCMAKE_BUILD_TYPE=Release ..
   make -j8
-  echo $ROOT_PASSWD | sudo -S mkdir -p /opt/openvino_toolkit
-  echo $ROOT_PASSWD | sudo -S ln -sf ~/code/dldt /opt/openvino_toolkit/dldt
+  echo "$ROOT_PASSWD" | sudo -S mkdir -p /opt/openvino_toolkit
+  echo "$ROOT_PASSWD" | sudo -S ln -sf ~/code/dldt /opt/openvino_toolkit/dldt
   
   echo "==== END install DLDT ===="
 fi
@@ -229,8 +229,8 @@ if [ "$MODEL_ZOO" == "1" ]; then
   mkdir build && cd build
   cmake -DCMAKE_BUILD_TYPE=Release /opt/openvino_toolkit/dldt/inference-engine
   make -j8
-  echo $ROOT_PASSWD | sudo -S mkdir -p /opt/openvino_toolkit
-  echo $ROOT_PASSWD | sudo -S ln -sf ~/code/open_model_zoo /opt/openvino_toolkit/open_model_zoo
+  echo "$ROOT_PASSWD" | sudo -S mkdir -p /opt/openvino_toolkit
+  echo "$ROOT_PASSWD" | sudo -S ln -sf ~/code/open_model_zoo /opt/openvino_toolkit/open_model_zoo
   
   echo "==== END install open_model_zoo ===="
 fi
@@ -241,9 +241,9 @@ if [ "$LIBREALSENSE" == "1" ]; then
   
   echo "Install server public key for librealsense"
   if [ -n "$http_proxy" ]; then
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy=$http_proxy --recv-key C8B3A55A6F3EFCDE
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy="$http_proxy" --recv-key C8B3A55A6F3EFCDE
   else
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
   fi
 
   if ! test "$(grep "http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo" /etc/apt/sources.list)"
@@ -259,18 +259,18 @@ fi
 if [ "$OTHER_DEPENDENCY" == "1" ]; then
   echo "===================Setting UP OTHER_DEPENDENCY DEPENDENCY...======================="
   
-  echo $ROOT_PASSWD | sudo -S apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
-  echo $ROOT_PASSWD | sudo -S apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
   
   pip3 install numpy
   pip3 install networkx
-  if [ $system_ver = "16.04" ]; then
-     echo $ROOT_PASSWD | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
+  if [ "$system_ver" = "16.04" ]; then
+     echo "$ROOT_PASSWD" | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
      cd /usr/lib/x86_64-linux-gnu
-     echo $ROOT_PASSWD | sudo -S ln -sf libboost_python-py35.so libboost_python3.so
-  elif [ $system_ver = "18.04" ]; then
-     echo $ROOT_PASSWD | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
-     echo $ROOT_PASSWD | sudo -S apt install libboost-python1.62.0
+     echo "$ROOT_PASSWD" | sudo -S ln -sf libboost_python-py35.so libboost_python3.so
+  elif [ "$system_ver" = "18.04" ]; then
+     echo "$ROOT_PASSWD" | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
+     echo "$ROOT_PASSWD" | sudo -S apt install libboost-python1.62.0
    fi
 
    echo "==== END install other dependencies ===="
diff --git a/script/environment_setup_binary.sh b/script/environment_setup_binary.sh
index d8cca987..3fe6bc54 100755
--- a/script/environment_setup_binary.sh
+++ b/script/environment_setup_binary.sh
@@ -3,40 +3,40 @@ set -euo pipefail
 
 echo "Please Enter Your Password:"
 stty -echo
-read ROOT_PASSWD
+read -r ROOT_PASSWD
 stty echo
 
 basedir=$PWD
 echo "Begin Environment Setup"
 
-system_ver=`cat /etc/lsb-release | grep -i "DISTRIB_RELEASE" | cut -d "=" -f2`
+system_ver=$(cat /etc/lsb-release | grep -i "DISTRIB_RELEASE" | cut -d "=" -f2)
 
 #Get Config Parameters
-CLEAN=`cat modules.conf | grep 'clean'`
+CLEAN=$(cat modules.conf | grep 'clean')
 CLEAN=${CLEAN##*=}
 echo "Set CLEAN to $CLEAN"
 
-ROS2_SRC=`cat modules.conf | grep 'ros2_src'`
+ROS2_SRC=$(cat modules.conf | grep 'ros2_src')
 ROS2_SRC=${ROS2_SRC##*=}
 echo "Set ROS2_SRC to $ROS2_SRC"
 
-OPENVINO=`cat modules.conf | grep 'openvino'`
+OPENVINO=$(cat modules.conf | grep 'openvino')
 OPENVINO=${OPENVINO##*=}
 echo "Set OPENVINO to $OPENVINO"
 
-OPENCL=`cat modules.conf | grep 'opencl'`
+OPENCL=$(cat modules.conf | grep 'opencl')
 OPENCL=${OPENCL##*=}
 echo "Set OPENCL to $OPENCL"
 
-OPENCV=`cat modules.conf | grep 'opencv'`
+OPENCV=$(cat modules.conf | grep 'opencv')
 OPENCV=${OPENCV##*=}
 echo "Set OPENCV to $OPENCV"
 
-LIBREALSENSE=`cat modules.conf | grep 'librealsense'`
+LIBREALSENSE=$(cat modules.conf | grep 'librealsense')
 LIBREALSENSE=${LIBREALSENSE##*=}
 echo "Set LIBREALSENSE to $LIBREALSENSE"
 
-OTHER_DEPENDENCY=`cat modules.conf | grep 'other_dependency'`
+OTHER_DEPENDENCY=$(cat modules.conf | grep 'other_dependency')
 OTHER_DEPENDENCY=${OTHER_DEPENDENCY##*=}
 echo "Set OTHER_DEPENDENCY to $OTHER_DEPENDENCY"
 
@@ -45,19 +45,19 @@ echo "Set OTHER_DEPENDENCY to $OTHER_DEPENDENCY"
 if [ "$CLEAN" == "1" ]; then
   echo "===================Clean Existing Directories...===================================="
 
-  read -n1 -p "The clean operation will delete some manually created directories,
+  read -r -n1 -p "The clean operation will delete some manually created directories,
   including ~/code, ~/ros2_ws, /opt/intel, /opt/openvino_toolkit, and OpenVINO tar ball.
   Do you want to clean existing directories[Y/N]?" answer
   case $answer in
         Y|y) echo
                 echo "===================Cleaning...===================================="
-  		echo $ROOT_PASSWD | sudo -S rm -rf ~/code
+  		echo "$ROOT_PASSWD" | sudo -S rm -rf ~/code
   		rm -rf ~/ros2_ws
-  		echo $ROOT_PASSWD | sudo -S rm -rf /opt/intel
+  		echo "$ROOT_PASSWD" | sudo -S rm -rf /opt/intel
   		rm -rf ~/Downloads/l_openvino_toolkit*
-  		echo $ROOT_PASSWD | sudo -S rm -rf /opt/openvino_toolkit
+  		echo "$ROOT_PASSWD" | sudo -S rm -rf /opt/openvino_toolkit
   		if [[ $system_ver = "16.04" && -L "/usr/lib/x86_64-linux-gnu/libboost_python3.so" ]]; then
-    			echo $ROOT_PASSWD | sudo -S rm /usr/lib/x86_64-linux-gnu/libboost_python3.so
+    			echo "$ROOT_PASSWD" | sudo -S rm /usr/lib/x86_64-linux-gnu/libboost_python3.so
   		fi
                 echo "===================Clean finish...====================================";;
         N|n) echo
@@ -69,26 +69,26 @@ fi
 if [ "$ROS2_SRC" == "1" ]; then
   echo "===================Installing ROS2 from Source...======================="
   
-  echo $ROOT_PASSWD | sudo -S locale-gen en_US en_US.UTF-8
-  echo $ROOT_PASSWD | sudo -S update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+  echo "$ROOT_PASSWD" | sudo -S locale-gen en_US en_US.UTF-8
+  echo "$ROOT_PASSWD" | sudo -S update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8
 
-  echo $ROOT_PASSWD | sudo -S apt-get update && sudo apt-get install -y curl
+  echo "$ROOT_PASSWD" | sudo -S apt-get update && sudo apt-get install -y curl
   curl http://repo.ros2.org/repos.key | sudo apt-key add -
-  echo $ROOT_PASSWD | sudo -S sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+  echo "$ROOT_PASSWD" | sudo -S sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
   if [ -n "$http_proxy" ]; then
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy="$http_proxy" --recv-key F42ED6FBAB17C654
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy="$http_proxy" --recv-key F42ED6FBAB17C654
   else
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F42ED6FBAB17C654
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F42ED6FBAB17C654
   fi
-  echo $ROOT_PASSWD | sudo -S apt-get update && sudo apt-get install -y build-essential cmake git python3-colcon-common-extensions python3-pip python-rosdep python3-vcstool wget
+  echo "$ROOT_PASSWD" | sudo -S apt-get update && sudo apt-get install -y build-essential cmake git python3-colcon-common-extensions python3-pip python-rosdep python3-vcstool wget
 
 # install some pip packages needed for testing
-  echo $ROOT_PASSWD | sudo -S -H python3 -m pip install -U argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures
+  echo "$ROOT_PASSWD" | sudo -S -H python3 -m pip install -U argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures
 
   python3 -m pip install -U pytest pytest-cov pytest-runner setuptools
   python3 -m pip uninstall pytest -y
-  echo $ROOT_PASSWD | sudo -S apt-get install --no-install-recommends -y libasio-dev libtinyxml2-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install --no-install-recommends -y libasio-dev libtinyxml2-dev
 
   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws
@@ -96,13 +96,13 @@ if [ "$ROS2_SRC" == "1" ]; then
   vcs-import src < ros2.repos
 
   if [ ! -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; then
-    echo $ROOT_PASSWD | sudo -S rosdep init
+    echo "$ROOT_PASSWD" | sudo -S rosdep init
   else
     echo "file already exists, skip..."
   fi
 
   rosdep update
-  if [ $system_ver = "16.04" ]; then
+  if [ "$system_ver" = "16.04" ]; then
     rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 python3-lark-parser rti-connext-dds-5.3.1 urdfdom_headers"
     colcon build --symlink-install --packages-ignore qt_gui_cpp rqt_gui_cpp
   else
@@ -119,9 +119,9 @@ if [ "$OPENVINO" == "1" ]; then
   wget -c http://registrationcenter-download.intel.com/akdlm/irc_nas/16057/l_openvino_toolkit_p_2019.3.376.tgz
   tar -xvf l_openvino_toolkit_p_2019.3.376.tgz
   cd l_openvino_toolkit_p_2019.3.376
-  echo $ROOT_PASSWD | sudo -S ./install_openvino_dependencies.sh
-  cp $basedir/openvino_silent.cfg .
-  echo $ROOT_PASSWD | sudo -S ./install.sh --silent openvino_silent.cfg
+  echo "$ROOT_PASSWD" | sudo -S ./install_openvino_dependencies.sh
+  cp "$basedir"/openvino_silent.cfg .
+  echo "$ROOT_PASSWD" | sudo -S ./install.sh --silent openvino_silent.cfg
 
   echo "==== END install OpenVINO Toolkit ===="
 fi
@@ -136,7 +136,7 @@ if [ "$OPENCL" == "1" ]; then
    wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-igc-opencl_18.50.1270_amd64.deb
    wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-opencl_19.04.12237_amd64.deb
    wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-ocloc_19.04.12237_amd64.deb
-   echo $ROOT_PASSWD | sudo -S -E dpkg -i *.deb
+   echo "$ROOT_PASSWD" | sudo -S -E dpkg -i -- *.deb
 
    echo "==== END install OpenCL ===="
 fi
@@ -147,9 +147,9 @@ if [ "$LIBREALSENSE" == "1" ]; then
 
   echo "Install server public key for librealsense"
   if [ -n "$http_proxy" ]; then
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy=$http_proxy --recv-key C8B3A55A6F3EFCDE
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --keyserver-options http-proxy="$http_proxy" --recv-key C8B3A55A6F3EFCDE
   else
-    echo $ROOT_PASSWD | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
+    echo "$ROOT_PASSWD" | sudo -S apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
   fi
 
   if ! test "$(grep "http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo" /etc/apt/sources.list)"
@@ -165,16 +165,16 @@ fi
 if [ "$OPENCV" == "1" ]; then
   echo "===================Installing OpenCV3 from Source...======================="
   
-  echo $ROOT_PASSWD | sudo -S apt-get install -y build-essential
-  echo $ROOT_PASSWD | sudo -S apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
-  echo $ROOT_PASSWD | sudo -S apt-get install -y python-dev python-numpy libtbb2 libtbb-dev libpng-dev libtiff-dev libdc1394-22-dev
-
-  if [ $system_ver = "18.04" ]; then
-    echo $ROOT_PASSWD | sudo -S add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
-    echo $ROOT_PASSWD | sudo apt update
-    echo $ROOT_PASSWD | sudo apt install libjasper1 libjasper-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y build-essential
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y python-dev python-numpy libtbb2 libtbb-dev libpng-dev libtiff-dev libdc1394-22-dev
+
+  if [ "$system_ver" = "18.04" ]; then
+    echo "$ROOT_PASSWD" | sudo -S add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
+    echo "$ROOT_PASSWD" | sudo apt update
+    echo "$ROOT_PASSWD" | sudo apt install libjasper1 libjasper-dev
   else
-    echo $ROOT_PASSWD | sudo -S apt-get install libjasper-dev 
+    echo "$ROOT_PASSWD" | sudo -S apt-get install libjasper-dev 
   fi
 
   mkdir -p ~/code && cd ~/code
@@ -190,10 +190,10 @@ if [ "$OPENCV" == "1" ]; then
 
   cd ~/code/opencv
   mkdir build && cd build
-  cmake -DOPENCV_EXTRA_MODULES_PATH=$HOME/code/opencv_contrib/modules -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_opencv_cnn_3dobj=OFF ..
+  cmake -DOPENCV_EXTRA_MODULES_PATH="$HOME"/code/opencv_contrib/modules -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_opencv_cnn_3dobj=OFF ..
   make -j4
-  echo $ROOT_PASSWD | sudo -S make install
-  echo $ROOT_PASSWD | sudo -S ldconfig
+  echo "$ROOT_PASSWD" | sudo -S make install
+  echo "$ROOT_PASSWD" | sudo -S ldconfig
   
   echo "==== END install OpenCV ===="
 fi
@@ -202,18 +202,18 @@ fi
 if [ "$OTHER_DEPENDENCY" == "1" ]; then
   echo "===================Setting UP OTHER_DEPENDENCY DEPENDENCY...======================="
  
-  echo $ROOT_PASSWD | sudo -S apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
-  echo $ROOT_PASSWD | sudo -S apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
+  echo "$ROOT_PASSWD" | sudo -S apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
   
   pip3 install numpy
   pip3 install networkx
-  if [ $system_ver = "16.04" ]; then
-     echo $ROOT_PASSWD | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
+  if [ "$system_ver" = "16.04" ]; then
+     echo "$ROOT_PASSWD" | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
      cd /usr/lib/x86_64-linux-gnu
-     echo $ROOT_PASSWD | sudo -S ln -sf libboost_python-py35.so libboost_python3.so
-  elif [ $system_ver = "18.04" ]; then
-     echo $ROOT_PASSWD | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
-     echo $ROOT_PASSWD | sudo -S apt install libboost-python1.62.0
+     echo "$ROOT_PASSWD" | sudo -S ln -sf libboost_python-py35.so libboost_python3.so
+  elif [ "$system_ver" = "18.04" ]; then
+     echo "$ROOT_PASSWD" | sudo -S apt-get install -y --no-install-recommends libboost-all-dev
+     echo "$ROOT_PASSWD" | sudo -S apt install libboost-python1.62.0
    fi
 
    echo "==== END install other dependencies ===="
diff --git a/script/set_variable.sh b/script/set_variable.sh
index 88fb16b6..bef756c7 100644
--- a/script/set_variable.sh
+++ b/script/set_variable.sh
@@ -14,5 +14,5 @@ elif [ "$openvino_version" == "binary" ]; then
 else
   echo "openvino version error"
 fi
-echo "model_downloader="$model_downloader
-echo "model_optimizer="$model_optimizer
+echo "model_downloader=""$model_downloader"
+echo "model_optimizer=""$model_optimizer"