Update setup_controller.rst (StoglRobotics#14)

* Update create controller manual and scripts

docs/use-cases/ros2_control/setup_controller.rst

@@ -4,18 +4,15 @@ ros2_control: Setup controller package
 .. _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.
-
-``ros2_control_setup-controller-package`` script accepts the file name of the controller and, optionally, class name and the package name.
-The file name should use standard ROS format <my_cool_controller>.
-A ``.cpp`` and ``.hpp`` files will added using this name.
-If the class name is not set, it is guessed by camel-casing the file name.
-If the package name is not set, it is guessed from the current path using the folder's name.
-The script **has to be executed** from the folder where the package should be generated.
+The scripts uses template files from ``templates/ros2_control/controller`` folder.
+The script creates a complete skeleton of a controller with plugin description and tests for loading controller and checking its basic functionality.
 
 **Note**: it is recomended to setup your package using :ref:`setup-new-package <uc-new-package>` scritpt.
 
-The scripts copies template files from the ``templates/ros2_control/controller`` folder, rename the files, and replaces the placeholders.
-The scripts adds also a plugin description and simple test checking if the plugin can be loaded.
+**IMPORTANT**: The script has to be executed from the folder where files should be generated.
+
+Usage
+------
 
 .. code-block:: bash
    :caption: Usage of script for setting up a controller.
@@ -24,4 +21,16 @@ The scripts adds also a plugin description and simple test checking if the plugi
    ros2_control_setup-controller-package FILE_NAME [CLASS_NAME] [PKG_NAME]
 
 
-After all files are copied and placeholders set, a commit can be automatically created.
+Parameters:
+
+  - ``FILE_NAME`` file name used for controller's ``.cpp`` and ``.hpp`` files.
+    It assumes standard ROS format, e.g, "my_cool_controller".
+
+  - ``CLASS_NAME`` optional name used for controller class.
+    If not set, it is guessed by camel-casing the file name.
+
+  - ``PKG_NAME`` name of the controller's package.
+    If not set, it is guessed from the current path using the folder's name.
+
+
+The script will ask you for some additional input.

scripts/_RosTeamWs_Defines.bash

@@ -225,13 +225,17 @@ function compile_and_source_package {
   fi
   bn=`basename "$PWD"`
   path=$bn
-#   while [[ "$bn" != "src" ]]; do
-#     cd ..
-#     bn=`basename "$PWD"`
-#     path="$bn/$path"
-#   done
-#   cd ..
-  cd $ROS_WS
+  if [[ -v $ROS_WS ]]; then
+    cd $ROS_WS
+  else
+    while [[ "$bn" != "src" ]]; do
+      cd ..
+      bn=`basename "$PWD"`
+      path="$bn/$path"
+    done
+    cd ..
+  fi
+  echo "Trying to compile a newly created package. If you get an error try to do this manually."
   colcon build --symlink-install --packages-up-to $pkg_name
   source install/setup.bash
   if [[ "$test" == "yes" ]]; then

scripts/ros2_control/setup-controller-package.bash

@@ -75,7 +75,7 @@ case "$choice" in
   LICENSE_HEADER="$LICENSE_TEMPLATES/propriatery_company_cpp.txt"
 esac
 
-read -p "Is package already configured? (yes/no) [no] " package_configured
+# read -p "Is package already configured? (yes/no) [no] " package_configured
 package_configured=${package_configured:="no"}
 
 echo ""
@@ -166,21 +166,21 @@ head -$CUT_LINE CMakeLists.txt >> $TMP_FILE
 
 # Add Plugin library stuff inside
 echo "add_library(" >> $TMP_FILE
-echo "  $PKG_NAME" >> $TMP_FILE
+echo "  $FILE_NAME" >> $TMP_FILE
 echo "  SHARED" >> $TMP_FILE
 echo "  $CTRL_CPP" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 echo "target_include_directories(" >> $TMP_FILE
-echo "  $PKG_NAME" >> $TMP_FILE
+echo "  $FILE_NAME" >> $TMP_FILE
 echo "  PUBLIC" >> $TMP_FILE
 echo "  $<BUILD_INTERFACE:\${CMAKE_CURRENT_SOURCE_DIR}/include>" >> $TMP_FILE
 echo "  $<INSTALL_INTERFACE:include>" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 # TODO(anyone): Add this dependencies in a loop
 echo "ament_target_dependencies(" >> $TMP_FILE
-echo "  $PKG_NAME" >> $TMP_FILE
+echo "  $FILE_NAME" >> $TMP_FILE
 echo "  control_msgs" >> $TMP_FILE
 echo "  controller_interface" >> $TMP_FILE
 echo "  hardware_interface" >> $TMP_FILE
@@ -192,7 +192,7 @@ echo ")" >> $TMP_FILE
 
 # TODO(anyone): Delete after Foxy!!!
 echo "# prevent pluginlib from using boost" >> $TMP_FILE
-echo "target_compile_definitions($PKG_NAME PUBLIC \"PLUGINLIB__DISABLE_BOOST_FUNCTIONS\")" >> $TMP_FILE
+echo "target_compile_definitions($FILE_NAME PUBLIC \"PLUGINLIB__DISABLE_BOOST_FUNCTIONS\")" >> $TMP_FILE
 
 if [[ "$package_configured" == "no" ]]; then
 
@@ -204,7 +204,7 @@ if [[ "$package_configured" == "no" ]]; then
   echo "" >> $TMP_FILE
   echo "install(" >> $TMP_FILE
   echo "  TARGETS" >> $TMP_FILE
-  echo "  $PKG_NAME" >> $TMP_FILE
+  echo "  $FILE_NAME" >> $TMP_FILE
   echo "  RUNTIME DESTINATION bin" >> $TMP_FILE
   echo "  ARCHIVE DESTINATION lib" >> $TMP_FILE
   echo "  LIBRARY DESTINATION lib" >> $TMP_FILE
@@ -258,10 +258,13 @@ if [[ "$package_configured" == "no" ]]; then
   echo "  include" >> $TMP_FILE
   echo ")" >> $TMP_FILE
 
-  echo "ament_export_libraries(" >> $TMP_FILE
-  echo "  $PKG_NAME" >> $TMP_FILE
-  echo ")" >> $TMP_FILE
+fi
 
+echo "ament_export_libraries(" >> $TMP_FILE
+echo "  $FILE_NAME" >> $TMP_FILE
+echo ")" >> $TMP_FILE
+
+if [[ "$package_configured" == "no" ]]; then
   # TODO(anyone): use this from a list so its the same as above
   echo "ament_export_dependencies(" >> $TMP_FILE
   echo "  control_msgs" >> $TMP_FILE
@@ -334,7 +337,7 @@ sed -i "/<test_depend>ament_lint_common<\/test_depend>/d" package.xml
 if [ -f README.md ]; then
 
   echo "" >> README.md
-  echo "Pluginlib-Library: $PKG_NAME" >> README.md
+  echo "Pluginlib-Library: $FILE_NAME" >> README.md
   echo ""
   echo "Plugin: $PKG_NAME/${CLASS_NAME} (controller_interface::ControllerInterface)" >> README.md
 

templates/ros2_control/controller/controller.cpp

@@ -1,6 +1,7 @@
 $LICENSE$
 
 #include <limits>
+#include <memory>
 #include <string>
 #include <vector>
 

templates/ros2_control/controller/controller.hpp

@@ -3,6 +3,7 @@
 #ifndef $PACKAGE_NAME$__$FILE_NAME$_HPP_
 #define $PACKAGE_NAME$__$FILE_NAME$_HPP_
 
+#include <memory>
 #include <string>
 #include <vector>
 

templates/ros2_control/controller/test_controller.cpp

@@ -1,6 +1,7 @@
 $LICENSE$
 
 #include <memory>
+#include <string>
 #include <utility>
 #include <vector>
 

templates/ros2_control/controller/test_controller.hpp

@@ -6,6 +6,9 @@
 #include <chrono>
 #include <memory>
 #include <string>
+#include <tuple>
+#include <utility>
+#include <vector>
 
 #include "$package_name$/$package_name$.hpp"
 #include "gmock/gmock.h"