|
| 1 | +### Aliases and functions for ROS 2 and colcon usage. |
| 2 | + |
| 3 | +rid() { |
| 4 | + export ROS_DOMAIN_ID="$1" |
| 5 | + echo "ROS_DOMAIN_ID set to $ROS_DOMAIN_ID" |
| 6 | +} |
| 7 | + |
| 8 | +# Create a function to update the argcomplete and generate the completion |
| 9 | +# scripts so that tab completion works within `pixi shell` environments. |
| 10 | +update_argcompletes() { |
| 11 | + local tools=( |
| 12 | + ros2 |
| 13 | + colcon |
| 14 | + ) |
| 15 | + |
| 16 | + if [[ -n "${CONDA_PREFIX:-}" ]]; then |
| 17 | + local completions_path="$CONDA_PREFIX/share/zsh/site-functions" |
| 18 | + |
| 19 | + if ! [[ -d "$completions_path" ]]; then |
| 20 | + mkdir -p "$completions_path" |
| 21 | + fi |
| 22 | + |
| 23 | + for tool in "${tools[@]}"; do |
| 24 | + if type "$tool" &> /dev/null; then |
| 25 | + local _completion="$(register-python-argcomplete "$tool")" |
| 26 | + |
| 27 | + if ! [[ -f "$completions_path/_$tool" ]]; then |
| 28 | + echo "_completion" > "$completions_path/_$tool" |
| 29 | + fi |
| 30 | + fi |
| 31 | + done |
| 32 | + fi |
| 33 | +} |
| 34 | + |
| 35 | +setup_alises() { |
| 36 | + # check if we are in subdir of $ROS_WORKSPACE and switch to it otherwise |
| 37 | + alias cdc='[[ "$PWD" = "$ROS_WORKSPACE"* ]] || cd "$ROS_WORKSPACE"' |
| 38 | + |
| 39 | + alias psh='cdc && pixi shell' |
| 40 | + |
| 41 | + # ros aliases |
| 42 | + alias ros2='cdc && pixi run ros2' |
| 43 | + alias rr='ros2 run' |
| 44 | + alias rl='ros2 launch' |
| 45 | + |
| 46 | + alias rte='ros2 topic echo' |
| 47 | + alias rtl='ros2 topic list' |
| 48 | + alias rth='ros2 topic hz' |
| 49 | + alias rtp='ros2 topic pub' |
| 50 | + |
| 51 | + alias rpl='ros2 param list' |
| 52 | + alias rpg='ros2 param get' |
| 53 | + |
| 54 | + # colcon aliases |
| 55 | + alias colcon='cdc && pixi run colcon' |
| 56 | + alias cba='cdc && pixi run build' |
| 57 | + alias cbs='cba --packages-select' |
| 58 | + alias cb='cba --packages-up-to' |
| 59 | + |
| 60 | + alias ct='pixi run test' |
| 61 | + alias cts='ct --packages-select' |
| 62 | + |
| 63 | + alias cca='pixi run clean' |
| 64 | + |
| 65 | + # deploy_robots tool aliases |
| 66 | + alias dp='pixi run deploy --sync --build --print-bit-bot' |
| 67 | + alias dpfull='dp --install --configure' |
| 68 | + alias dpclean='dp --clean' |
| 69 | + alias dplo='dp --skip-local-repo-check' |
| 70 | + |
| 71 | + # Overwrite some aliases in pixi shell to allow for tab completion |
| 72 | + # by directly using ros2/colcon instead of the pixi tasks |
| 73 | + if [[ "$(ps -o comm= -p "$PPID")" == "pixi" ]]; then |
| 74 | + alias cdc='cd $PIXI_PROJECT_ROOT' |
| 75 | + |
| 76 | + # ros aliases |
| 77 | + unalias ros2 |
| 78 | + alias rr='ros2 run' |
| 79 | + alias rl='ros2 launch' |
| 80 | + |
| 81 | + alias rte='ros2 topic echo' |
| 82 | + alias rtl='ros2 topic list' |
| 83 | + alias rth='ros2 topic hz' |
| 84 | + alias rtp='ros2 topic pub' |
| 85 | + |
| 86 | + alias rpl='ros2 param list' |
| 87 | + alias rpg='ros2 param get' |
| 88 | + |
| 89 | + # colcon aliases |
| 90 | + unalias colcon |
| 91 | + alias cba='cdc && colcon build --symlink-install --cmake-args -G "Unix Makefiles" --continue-on-error' |
| 92 | + alias cbs='cba --packages-select' |
| 93 | + alias cb='cba --packages-up-to' |
| 94 | + |
| 95 | + alias ct='cdc && colcon test --event-handlers console_direct+ --return-code-on-test-failure' |
| 96 | + alias cts='ct --packages-select' |
| 97 | + fi |
| 98 | +} |
| 99 | + |
| 100 | +update_argcompletes |
| 101 | +setup_alises |
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