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Update rtwrc and setup-auto-sourcing #243

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Update rtwrc and setup-auto-sourcing #243

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d6243bc
Update `rtwrc`
destogl Nov 1, 2024
aaf6cdd
Add comment to autosourcing.
destogl Nov 1, 2024
5fc5a68
Update rtwrc
destogl Nov 1, 2024
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7 changes: 4 additions & 3 deletions scripts/setup_auto_sourcing.bash
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,12 @@ if [[ " ${negative_answers[*]} " =~ " ${user_answer} " ]]; then
print_and_exit "Aborting the setup of autosourcing. Exiting..."
fi

rtw_file=".ros_team_ws_rc"
rtw_file="rtwrc"
rtw_file_location=~/"$rtw_file"
template_location="$FRAMEWORK_BASE_PATH/templates/$rtw_file"
echo "Copying ${rtw_file} to your home folder."
if ! [ -f "$HOME/$rtw_file" ]; then
cp "${template_location}" ~/.
cp "${template_location}" ~/.ros_team_workspace/.
else
echo ""
notify_user "${rtw_file} already exists."
Expand Down Expand Up @@ -63,7 +63,8 @@ echo "Updating your .bashrc file."
bashrc_location=~/.bashrc
if ! ( grep -q '\..*\.ros_team_ws_rc' $bashrc_location || grep -q 'source.*\.ros_team_ws_rc' $bashrc_location ); then
echo "" >> $bashrc_location
echo "# automatically source RosTeamWorkspace if the .ros_team_ws file is present in your home folder." >> $bashrc_location
echo "# Automatically source RosTeamWorkspace if the ~/.ros_team_workspace/rtwrc file is present in your home folder." >> $bashrc_location
echo "# Some ROS 2 related varialbes are set in this configuration file, check if you have any configuration-related issues." >> $bashrc_location
echo "if [ -f ~/.ros_team_ws_rc ]; then" >> $bashrc_location
echo " . ~/.ros_team_ws_rc" >> $bashrc_location
echo "fi" >> $bashrc_location
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29 changes: 17 additions & 12 deletions templates/.ros_team_ws_rc → templates/rtwrc
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Original file line number Diff line number Diff line change
@@ -1,31 +1,36 @@
#!/bin/bash

# if you did not install ros under /opt/ros/<ros-distro>/ then you have to set the ALTERNATIVE_ROS_<ROS_DISTRO>_LOCATION
# to point to your installation folder e.g. ALTERNATIVE_ROS_ROLLING_LOCATION=/home/user/my_installation_folder/rolling/
# For other ros versions simply add ALTERNATIVE_ROS_<ros-distro>_LOCATION e.g. ALTERNATIVE_ROS_FOXY_LOCATION
ALTERNATIVE_ROS_ROLLING_LOCATION=""

# Setup for RTW-Pro version
TEAM_LICENSE="Apache License 2.0"

TEAM_REPOSITORY_SERVER="https://github.com"

TEAM_PRIVATE_CONFIG_PATH=""

# if you did not install ROS under /opt/ros/<ros-distro>/ then you have to set the ALTERNATIVE_ROS_<ROS_DISTRO>_LOCATION
# to point to your installation folder e.g. ALTERNATIVE_ROS_ROLLING_LOCATION=/home/user/my_installation_folder/rolling/
# For other ros versions simply add ALTERNATIVE_ROS_<ros-distro>_LOCATION e.g. ALTERNATIVE_ROS_FOXY_LOCATION
# This also enables support for older ROS 2 version within docker (for example useful to run `rviz2` outside of the container)
export ALTERNATIVE_ROS_FOXY_LOCATION="/opt/ros/rolling"
export ALTERNATIVE_ROS_GALACTIC_LOCATION="/opt/ros/rolling"
# export ALTERNATIVE_ROS_HUMBLE_LOCATION="/opt/ros/rolling"
export ALTERNATIVE_ROS_IRON_LOCATION="/opt/ros/rolling"

# set this to the location of RosTeamWorkspace
source <PATH TO ros_team_workspace>/setup.bash

# User specific setup/variables
# DDS setup
#export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
#export CYCLONEDDS_URI=~/workspace/cyclonedds.xml

#export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>ADD_HERE_INTERFACE_NAME</NetworkInterfaceAddress></General></Domain></CycloneDDS>'

export ROS_AUTOMATIC_DISCOVERY_RANGE="LOCALHOST" # Doc: https://docs.ros.org/en/rolling/Tutorials/Advanced/Improved-Dynamic-Discovery.html
export ROS_DOMAIN_ID=0 # Set your Domain ID if you are in a network with multiple computers
export ROS_DOMAIN_ID=28
export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST # Doc: https://docs.ros.org/en/rolling/Tutorials/Advanced/Improved-Dynamic-Discovery.html
#export ROS_STATIC_PEERS=<Your Robot>;<Your b.controled Control Box IP>

# needed to execute cppcheck version 2.7 used in pre-commit
export AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=true

# Logging setup
# export RCUTILS_LOGGING_CONFIG_FILE="/home/deniss/workspace/ros2_logging_config"
# export RCUTILS_LOGGING_CONFIG_FILE="~/.ros/ros2_logging_config"
#export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})" # Custom logging format
export RCUTILS_COLORIZED_OUTPUT=1
#export RCUTILS_LOGGING_USE_STDOUT=1 # force all logging output to stdout
Expand Down
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