ros.bash

###################################################################
# ROS aliases and functions
###################################################################

# Define ROS_DISTRO before source ROS
if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi

# Determine shell extension
if [ -z $SHELL ]; then echo "SHELL not set"; else ext=$(basename ${SHELL}); fi

# Source rosmon
function smon(){
    source /opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}
}

# cd to the root of the workspace
function roshome(){
    roscd && cd ..
}

# Source the current workspace
function sourcews(){
    source ./devel/setup.${ext} && smon
}

# Source the current workspace
function sourceros(){
    source /opt/ros/${ROS_DISTRO}/setup.${ext} && smon
}

# Source the current workspace
function sourcethis(){
    pwd_st=${PWD}
    roshome && source ./devel/setup.${ext} && smon
    cd ${pwd_st}
}

# Automatic catkin build
function cb() {
    pwd_cb=${PWD}
    roshome
    catkin build --summarize "$@"
    sourcethis
    cd ${pwd_cb}
}

# Clean workspace (delete the generated folders, then catkin build)
function cbclean(){
    roshome && rm -rf build devel install && catkin build --summarize
}

# Initialize catkin workspace, configure and build it
function cib(){
    catkin init && catkin config --extend /opt/ros/${ROS_DISTRO} && catkin build --summarize
}

# If terminal starts in a ws, auto source it (useful for vscode)
pwd_init=${PWD}
cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
WS_name=${cropped%%/*}
WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
FILE=${WS_path}/devel/setup.${ext}
if [[ -f $FILE ]]; then
  cd ${WS_path}
  source $FILE
  cd ${pwd_init}
else
  source /opt/ros/${ROS_DISTRO}/setup.${ext}
fi