Updated docs structure. Hardening of aliases and setup scripts (Stogl…

…Robotics#11)

* Updated docs structure. Hardening of aliases and setup scripts

* Add updated files

* Update CI config

* Revert make page to work

.github/workflows/docs-sphinx-build-check.yml

@@ -5,15 +5,13 @@ on:
     branches:
       - rolling
   schedule:
-    # Run every morning to detect flakiness and broken dependencies
+    # Run every day to detect flakiness and broken dependencies
     - cron: '23 5 * * *'
 
 jobs:
   docs:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
-    - uses: ammaraskar/sphinx-action@master
+    - uses: ros-controls/control.ros.org-deployment-scripts@master
       with:
-        docs-folder: 'docs/'
-        pre-build-command: "apt-get update -y && apt-get install -y python3-pip && pip3 install sphinx_rtd_theme"
+        install_extensions: false

docs/use-cases/index.rst

@@ -10,5 +10,6 @@ Check the repository and PRs for other, undocumented use-cases.
    :maxdepth: 1
    :glob:
 
-   *
+   operating_system/*
+   ros_packages/*
    ros2_control/*

docs/use-cases/create_setup_workspace.rst → docs/use-cases/operating_system/create_setup_workspace.rst

@@ -5,10 +5,6 @@ Setup a new Workspace
 
 This use-case describes how to setup a new ROS workspace using scripts from the ROS Team Workspace (RosTeamWS) framework.
 
-
-Script for Creating Workspace
-==============================
-
 `setup-ros-workspace` accepts ros distro name workspace suffix and workspace folder as parameters.
 All three parameters are optional.
 
@@ -18,6 +14,5 @@ All three parameters are optional.
 
    setup-ros-workspace ROS_DISTRO WS_SUFFIX WS_FOLDER
 
-The script creates...
-
-
+The script creates in the ``$HOME/<WS_FOLDER>`` a new ROS workspace with name ``ros_ws_<ROS_DISTRO>_<WS_SUFFIX>``.
+Default value for ``<WS_FOLDER>`` is "workspace".

docs/use-cases/ros2_control/setup_controller.rst

@@ -1,7 +1,7 @@
 =======================================================
-ros2_control: Setup contorller package
+ros2_control: Setup controller package
 =======================================================
-.. _uc-setup-ros2-contorller:
+.. _uc-setup-ros2-controller:
 
 This use-case describes how to set up a controller for the ros2_control framework using scripts from ROS Team Workspace (RosTeamWS) framework.
 

scripts/_RosTeamWs_Defines.bash

@@ -18,6 +18,15 @@ function RosTeamWS_script_own_dir {
   echo "$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
 }
 
+# TODO(denis): add this into setup.bash
+function RosTeamWS_setup_aliases {
+
+# ROS
+  alias rosd="cd \$ROS_WS"
+  alias rosds="cd \$ROS_WS/src"
+  alias rosdb="cd \$ROS_WS/build"
+}
+
 function RosTeamWS_setup_ros1_exports {
 
 export ROSCONSOLE_FORMAT='[${severity}] [${walltime}: ${logger}] [${node}@${file}.${function}:${line}]: ${message}'
@@ -27,6 +36,10 @@ export ROSCONSOLE_CONFIG_FILE='~/workspace/ros_ws/rosconsole.config'
 
 function RosTeamWS_setup_ros1_aliases {
 
+# ROS
+  alias rosdd="cd \$ROS_WS/devel"
+
+# Catkin
   alias cb="catkin build"
 
 }
@@ -40,16 +53,21 @@ function RosTeamWS_setup_ros2_exports {
 
 function RosTeamWS_setup_ros2_aliases {
 
+# ROS
+  alias rosdi="cd \$ROS_WS/install"
+
+# COLCON
   alias cb="colcon_build"
   alias cbr="colcon_build_release"
-  alias cbup="colcon build --symlink-install --packages-up-to"
+  alias cbup="colcon_build_up_to"
 
   alias ct="colcon_test"
-  alias ctup="colcon test --packages-up-to"
+  alias ctup="colcon_test_up_to"
 
-  alias ctr="colcon test-result"
+  alias ctres="colcon_test_results"
 
   alias ca="colcon_all"
+  alias caup="colcon_all_up_to"
 }
 
 
@@ -59,18 +77,43 @@ function colcon_helper_ros2 {
     print_and_exit "This should never happen. Check your helpers definitions!"
   fi
 
+  cd $ROS_WS
+
   CMD="$1"
   if [ -z "$2" ]; then
     $CMD
   else
     $CMD --packages-select $2
   fi
+
+  cd -
+}
+
+function colcon_helper_ros2_up_to {
+  if [ -z "$1" ]; then
+    print_and_exit "This should never happen. Check your helpers definitions!"
+  fi
+
+  cd $ROS_WS
+
+  CMD="$1"
+  if [ -z "$2" ]; then
+    print_and_exit "You should provide package for this command!"
+  else
+    $CMD --packages-up-to $2
+  fi
+
+  cd -
 }
 
 function colcon_build {
   colcon_helper_ros2 "colcon build --symlink-install" "$*"
 }
 
+function colcon_build_up_to {
+  colcon_helper_ros2_up_to "colcon build --symlink-install" "$*"
+}
+
 function colcon_build_release {
   colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" "$*"
 }
@@ -79,10 +122,30 @@ function colcon_test {
   colcon_helper_ros2 "colcon test" "$*"
 }
 
+function colcon_test_up_to {
+  colcon_helper_ros2_up_to "colcon test" "$*"
+}
+
+function colcon_test_results {
+  cd $ROS_WS
+  if [ -z "$1" ]; then
+    colcon test-result
+  else
+    colcon test-result | grep "$*"
+  fi
+  cd -
+}
+
 function colcon_all {
   colcon_build "$*"
   colcon_test "$*"
-  ctr
+  colcon_test_results "$*"
+}
+
+function colcon_all_up_to {
+  colcon_build_up_to "$*"
+  colcon_test_up_to "$*"
+  colcon_test_results "$*"
 }
 
 ## END: Default Framework Definitions
@@ -162,12 +225,13 @@ function compile_and_source_package {
   fi
   bn=`basename "$PWD"`
   path=$bn
-  while [[ "$bn" != "src" ]]; do
-    cd ..
-    bn=`basename "$PWD"`
-    path="$bn/$path"
-  done
-  cd ..
+#   while [[ "$bn" != "src" ]]; do
+#     cd ..
+#     bn=`basename "$PWD"`
+#     path="$bn/$path"
+#   done
+#   cd ..
+  cd $ROS_WS
   colcon build --symlink-install --packages-up-to $pkg_name
   source install/setup.bash
   if [[ "$test" == "yes" ]]; then

scripts/_Team_Defines.bash

@@ -24,8 +24,10 @@ TEAM_LICENSE="Apache License 2.0"
 
 TEAM_REPOSITORY_SERVER="https://github.com"
 
-# TODO(denis): implement here support for internal repos
-# TEAM_INTERNAL_ASSETS="/opt/RosTeamWS/assets/"
+TEAM_PRIVATE_CONFIG_PATH=""
+
+# Define a path to a repository with your internal assets and configurations
+TEAM_INTERNAL_ASSETS="/opt/RosTeamWS/assets/"
 
 ## END: definitions
 
@@ -44,15 +46,15 @@ check_ros_distro $DEFAULT_ROS_DISTRO
 
 # BEGIN: Define aliases for standard internal functions
 
+alias setup_aliases=RosTeamWS_setup_aliases
+
 alias setup_ros1_exports=RosTeamWS_setup_ros1_exports
 
 alias setup_ros1_aliases=RosTeamWS_setup_ros1_aliases
 
 alias setup_ros2_exports=RosTeamWS_setup_ros2_exports
 
 alias setup_ros2_aliases=RosTeamWS_setup_ros2_aliases
-
-
 # END: Define aliases for standard functions
 
 

scripts/environment/setup.bash

@@ -1,8 +1,9 @@
 usage='setup.bash "ros_distro" "ros_ws_suffix" "workspace_folder"'
 
 # Load Framework defines
-# script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
-# source $script_own_dir/../_RosTeamWs_Defines.bash
+script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pwd )"
+source $script_own_dir/../_RosTeamWs_Defines.bash
+source $script_own_dir/../_Team_Defines.bash
 
 # ros distribution name will be set in $ros_distro
 check_ros_distro $1
@@ -21,22 +22,34 @@ fi
 
 unset CMAKE_PREFIX_PATH
 unset ROS_PACKAGE_PATH
-unset COLCON_WS
+unset ROS_WS
 
 if [[ $ros_version == 1 ]]; then
 
+  setup_aliases
   setup_ros1_exports
   setup_ros1_aliases
 
-  source ~/$ws_folder/ros_ws_$ros_distro$ws_suffix/devel/setup.bash
-  source `rospack find intelligent_robotic_automation`/scripts/environment/ros_setup.bash
+  WS_FOLDER="$HOME/$ws_folder/ros_ws_$ros_distro$ws_suffix"
+
+  if [ ! -d "$WS_FOLDER" ]; then
+    print_and_exit print_and_exit "'$WS_FOLDER_1' does not exist. Can not find ROS workspace!"
+  fi
+
+  export ROS_WS=$WS_FOLDER
+  source "$WS_FOLDER/devel/setup.bash"
+
+  echo ""
+  echo "RosTeamWS: Sourced file: $WS_FOLDER/devel/setup.bash"
+
 
 elif [[ $ros_version == 2 ]]; then
 
+  setup_aliases
   setup_ros2_exports
   setup_ros2_aliases
 
-  /opt/rti.com/rti_connext_dds-5.3.1/setenv_ros2rti.bash
+#   /opt/rti.com/rti_connext_dds-5.3.1/setenv_ros2rti.bash
   # export LANG=de_DE.UTF-8
   WS_FOLDER=""
   WS_FOLDER_1="$HOME/$ws_folder/ros_ws_$ros_distro$ws_suffix"
@@ -46,10 +59,12 @@ elif [[ $ros_version == 2 ]]; then
   elif [ -d "$WS_FOLDER_2" ]; then
     WS_FOLDER=$WS_FOLDER_2
   else
-    print_and_exit "Neither '$WS_FOLDER_1' nor 'WS_FOLDER_2' exist. Can not find ROS workspace!"
+    print_and_exit "Neither '$WS_FOLDER_1' nor '$WS_FOLDER_2' exist. Can not find ROS workspace!"
   fi
 
-  export COLCON_WS=$WS_FOLDER
+  export ROS_WS=$WS_FOLDER
+  # TODO: COLCON_WS is deprecated!!
+  export COLCON_WS=$ROS_WS
   source "$WS_FOLDER/install/setup.bash"
 
   echo ""