diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
index 3c6068e18e68216e1d647cd681f8f6408d04a0ba..0ba4e4e575da6545620733ded123dbae966cd742 100644
--- a/dockerfiles/devenv.Dockerfile
+++ b/dockerfiles/devenv.Dockerfile
@@ -7,6 +7,11 @@ RUN echo "Building devenv for ROS" $ROS_DISTRO "with shell" $EXT_SHELL
# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive
+# Import the key in order to be able to use the packages from the repository
+# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
+# NOV - 2023
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+
# Setup environment
RUN apt-get update && apt-get install -y apt-utils
@@ -68,9 +73,6 @@ RUN if [ "$EXT_SHELL" = "zsh" ]; \
# Configure system to look for debian packages in the Artifactory repository
COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
# Configure rosdep
diff --git a/dotfiles/docker.sh b/dotfiles/docker.sh
index ba018846c924291b58785efccc76215d6c7dee34..21fa0c17ab9ba920e9d3d532ae296e742158d7a8 100644
--- a/dotfiles/docker.sh
+++ b/dotfiles/docker.sh
@@ -1,10 +1,3 @@
-# Define color codes
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m' # No Color
-
# docker common commands
export dockerfiles_path=~/srcs/development_environment/dockerfiles;
@@ -25,8 +18,7 @@ else
ext=$(basename ${SHELL});
fi
-# Build docker image
-# usage: dockbuild {noetic, melodic}
+# Build a docker image
function dockbuild(){
current_dir=$(pwd)
@@ -105,6 +97,7 @@ function dockrun() {
case $key in
--ws)
workspace="${HOME}/ros/${container_name}/$3"
+ export ROS_WORKSPACE=$workspace
shift
shift
;;
@@ -222,7 +215,7 @@ function dockexec() {
echo "shell: ${docker_shell}${NC}"
# Attach to container
echo "${GREEN}docker exec -it ${container_name} ${docker_shell}${NC}"
- docker exec -it ${container_name} ${docker_shell}
+ docker exec -it ${container_name} ${docker_shell} -c "sc"
else
# Launch container
echo "${RED}Container ${1} does not exist${NC}"
diff --git a/dotfiles/ros.sh b/dotfiles/ros.sh
index b1797749f1a1a92543d565d73e0223b6e3683c44..78dee100862083e70974c98e1c0c81e328f4f5c1 100644
--- a/dotfiles/ros.sh
+++ b/dotfiles/ros.sh
@@ -2,84 +2,106 @@
# ROS aliases and functions
###################################################################
-# Define ROS_DISTRO before source ROS on native OS
-# if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
-if [[ -z "${ROS_DISTRO}" ]]; then
- ROS_DIR=/opt/ros
- if [ -d "$ROS_DIR" ];
- then
- export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))
- else
- unset ROS_DISTRO
- fi
+if [[ "${ROS_DISTRO}" == "noetic" || "${ROS_DISTRO}" == "melodic" ]]; then
+ export ROS_VERSION=1
+else
+ export ROS_VERSION=2
fi
-# Determine shell extension
-if [ ! -z $EXT_SHELL ]; then
- if [ -z $SHELL ]; then
- echo "SHELL not set"
- export SHELL=/usr/bin/zsh
- ext=$(basename ${SHELL});
- else
- ext=$(basename ${SHELL});
+# Enable colcon tools
+if [[ "${ROS_VERSION}" = 2 ]]; then
+ # Quick directory change
+ if [[ -f "/usr/share/colcon_cd/function/colcon_cd.sh" ]]; then
+ source /usr/share/colcon_cd/function/colcon_cd.sh
+ fi
+ # Completion
+ if [[ -f "/usr/share/colcon_argcomplete/hook/colcon-argcomplete.${ext}" ]]; then
+ source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.${ext}
fi
fi
# Source rosmon
function smon(){
- if [[ -f "/opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}" ]]; then
- source /opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}
+ if [[ ${ROS_VERSION} = 1 ]]; then
+ if [[ -f "/opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}" ]]; then
+ source /opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}
+ else
+ echo "rosmon not found."
+ fi
fi
}
# cd to the root of the workspace
function roshome(){
- if command -v roscd &> /dev/null
+ if [ "${ROS_VERSION}" = 1 ]
then
- roscd && cd ..
- ROS_HOME=${PWD}
+ if command -v roscd &> /dev/null
+ then
+ roscd && cd ..
+ export ROS_HOME=$(pwd)
+ else
+ echo "command ** roscd ** not found"
+ fi
else
- echo "command ** roscd ** not found"
+ if command -v colcon_cd &> /dev/null
+ then
+ colcon_cd
+ else
+ echo "command ** colcon_cd ** not found"
+ fi
fi
}
# Source the current workspace
function sourcews(){
+ current_dir=$(pwd)
+ cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
+ ws_name=${cropped%%/*}
+ ws_path=${HOME}/ros/${ROS_DISTRO}/${ws_name}
+
if [ "${ROS_VERSION}" = 1 ]
then
- source ./devel/setup.${ext} && smon
+ FILE=${ws_path}/devel/setup.${ext}
else
- source ./install/setup.${ext}
+ FILE=${ws_path}/install/setup.${ext}
fi
-}
-# Source the current workspace
-function sourceros(){
- source /opt/ros/${ROS_DISTRO}/setup.${ext} && smon
- ROS_HOME="/opt/ros/${ROS_DISTRO}/"
+ # if PWD belongs to ROS workspace then source it
+ if [[ -f $FILE ]]; then
+ cd ${ws_path}
+ echo "${GREEN}Sourcing workspace: ${FILE}${NC}"
+ source $FILE && smon
+ cd ${current_dir}
+ export ROS_HOME=${ws_path}
+ else
+ echo "${RED}Workspace not found: ${FILE}${NC}"
+ fi
}
# Source the current workspace
-function sourcethis(){
- pwd_st=${PWD}
- roshome && sourcews
- echo "Sourcing: ${ROS_HOME}"
- cd ${pwd_st}
+function sourceros(){
+ source /opt/ros/${ROS_DISTRO}/setup.${ext}
+ export ROS_HOME="/opt/ros/${ROS_DISTRO}/"
+ # In ROS 1 source rosmon
+ if [ "${ROS_VERSION}" = 1 ]
+ then
+ smon
+ fi
}
# Automatic catkin build
function cb() {
+ pwd_cb=$(pwd)
if [ "${ROS_VERSION}" = 1 ]
then
- pwd_cb=${PWD}
roshome
catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release -- "$@"
- sourcethis
- cd ${pwd_cb}
else
colcon build --parallel-workers 6 "$@"
- source ./install/setup.zsh
fi
+
+ sourcews
+ cd ${pwd_cb}
}
# Clean workspace (delete the generated folders, then catkin build)
@@ -109,23 +131,19 @@ function runci(){
fi
}
-# if a new terminal starts in a ws, auto source it (useful for vscode)
-if [ -z ${ROS_DISTRO+x} ]; then ;
-else
- pwd_init=${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 PWD belongs to ROS ws then source it
- if [[ -f $FILE ]]; then
- cd ${WS_path}
- source $FILE
- cd ${pwd_init}
- ROS_HOME=${WS_path}
+alias sc=sourcews
+
+# Check if ROS_DISTRO is set.
+if [[ -z "${ROS_DISTRO}" ]]; then
+ ROS_DIR=/opt/ros
+ if [ -d "$ROS_DIR" ];
+ then
+ export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))
+ #echo "ROS_DISTRO set to ${ROS_DISTRO}"
else
- sourceros
+ unset ROS_DISTRO
+ #echo "${YELLOW}ROS is not installed.${NC}"
fi
-fi
-
-#alias sc=sourcethis
\ No newline at end of file
+else
+ sourcews
+fi
\ No newline at end of file
diff --git a/dotfiles/system.sh b/dotfiles/system.sh
index 9f15e630ad285ca69260f49174635655bad90af0..2d38f989a407cdb56c1836898ed6d2916c50b174 100644
--- a/dotfiles/system.sh
+++ b/dotfiles/system.sh
@@ -1,3 +1,10 @@
+# Define color codes
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
# Override globalalias config
# space expands all aliases, including global
bindkey -M emacs "^ " globalias