Spellchecking and update ros2_control generators. (StoglRobotics#16)

* Add changes to ros2-scipts and spellchecks.

* Small changes in generations scripts after testing.

CONTRIBUTING.md

@@ -10,7 +10,7 @@ information to effectively respond to your bug report or contribution.
 ## Reporting Bugs/Feature Requests
 We welcome you to use the GitHub issue tracker to report bugs or suggest features.
 
-When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure 
+When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure
  somebody else hasn't already reported the issue.
 Please try to include as much information as you can. Details like these are incredibly useful:
 
@@ -45,7 +45,7 @@ GitHub provides additional documentation on [forking a repository](https://help.
 ## Finding contributions to work on
 Looking at the existing issues is a great way to find something to contribute on.
 As this project, by default, uses the default GitHub issue labels
-  (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues 
+  (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues
   is a great place to start.
 
 

docs/Makefile

@@ -16,4 +16,4 @@ help:
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/conf.py

@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 #
 # Configuration file for the Sphinx documentation builder.
 #
@@ -21,14 +20,14 @@
 
 # -- Project information -----------------------------------------------------
 
-project = 'ROS Team Workspace'
-copyright = '2021, Denis Stogl'
-author = 'Denis Stogl'
+project = "ROS Team Workspace"
+copyright = "2021, Stogl Robotics Consulting UG (haftungsbeschränkt)"
+author = "Denis Stogl"
 
 # The short X.Y version
-version = ''
+version = ""
 # The full version, including alpha/beta/rc tags
-release = 'Jan 2021'
+release = "Jan 2021"
 
 
 # -- General configuration ---------------------------------------------------
@@ -41,26 +40,26 @@
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.doctest',
-    'sphinx.ext.intersphinx',
-    'sphinx.ext.todo',
-    'sphinx.ext.coverage',
-    'sphinx.ext.githubpages',
-    'sphinx_rtd_theme',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+    "sphinx.ext.coverage",
+    "sphinx.ext.githubpages",
+    "sphinx_rtd_theme",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
+source_suffix = ".rst"
 
 # The master toctree document.
-master_doc = 'index'
+master_doc = "index"
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -72,7 +71,7 @@
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = None
@@ -83,8 +82,8 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme_path = ['_themes']
-html_theme = 'sphinx_rtd_theme'
+html_theme_path = ["_themes"]
+html_theme = "sphinx_rtd_theme"
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -95,7 +94,7 @@
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.
@@ -114,15 +113,15 @@
     "github_version": "rolling",
     "conf_py_path": "/docs/",
     "source_suffix": source_suffix,
-    "css_files": ['_static/override.css'],
+    "css_files": ["_static/override.css"],
 }
 
 github_url = "https://github.com/StoglRobotics/ros_team_workspace"
 
 # -- Options for HTMLHelp output ---------------------------------------------
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = 'ROSTeamWorkspacedoc'
+htmlhelp_basename = "ROSTeamWorkspacedoc"
 
 
 # -- Options for LaTeX output ------------------------------------------------
@@ -131,15 +130,12 @@
     # The paper size ('letterpaper' or 'a4paper').
     #
     # 'papersize': 'letterpaper',
-
     # The font size ('10pt', '11pt' or '12pt').
     #
     # 'pointsize': '10pt',
-
     # Additional stuff for the LaTeX preamble.
     #
     # 'preamble': '',
-
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
@@ -149,19 +145,21 @@
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, 'ROSTeamWorkspace.tex', 'ROS Team Workspace Documentation',
-     'Denis Stogl', 'manual'),
+    (
+        master_doc,
+        "ROSTeamWorkspace.tex",
+        "ROS Team Workspace Documentation",
+        "Denis Stogl",
+        "manual",
+    ),
 ]
 
 
 # -- Options for manual page output ------------------------------------------
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [
-    (master_doc, 'rosteamworkspace', 'ROS Team Workspace Documentation',
-     [author], 1)
-]
+man_pages = [(master_doc, "rosteamworkspace", "ROS Team Workspace Documentation", [author], 1)]
 
 
 # -- Options for Texinfo output ----------------------------------------------
@@ -170,9 +168,15 @@
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (master_doc, 'ROSTeamWorkspace', 'ROS Team Workspace Documentation',
-     author, 'ROSTeamWorkspace', 'One line description of project.',
-     'Miscellaneous'),
+    (
+        master_doc,
+        "ROSTeamWorkspace",
+        "ROS Team Workspace Documentation",
+        author,
+        "ROSTeamWorkspace",
+        "One line description of project.",
+        "Miscellaneous",
+    ),
 ]
 
 
@@ -191,15 +195,15 @@
 # epub_uid = ''
 
 # A list of files that should not be packed into the epub file.
-epub_exclude_files = ['search.html']
+epub_exclude_files = ["search.html"]
 
 
 # -- Extension configuration -------------------------------------------------
 
 # -- Options for intersphinx extension ---------------------------------------
 
 # Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'https://docs.python.org/': None}
+intersphinx_mapping = {"https://docs.python.org/": None}
 
 # -- Options for todo extension ----------------------------------------------
 

docs/use-cases/ros2_control/setup_controller.rst

@@ -7,10 +7,11 @@ This use-case describes how to set up a controller for the ros2_control framewor
 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.
+**Note**: it is recommended to setup your package using :ref:`setup-new-package <uc-new-package>` script.
 
 **IMPORTANT**: The script has to be executed from the folder where files should be generated.
 
+
 Usage
 ------
 
@@ -33,4 +34,6 @@ Parameters:
     If not set, it is guessed from the current path using the folder's name.
 
 
-The script will ask you for some additional input.
+The script will ask for some additional input. 
+
+After all files are copied and placeholders set, changes are automatically staged in git.

package.xml

@@ -3,7 +3,7 @@
   <name>ros_team_workspace</name>
   <version>0.1.0</version>
   <description>
-    RosTeamWS is a framework for boosting collaboration in teams when developing software for robots using `Robot Operating System (ROS) <https://www.ros.org/>`_.
+    RosTeamWS is a framework for boosting collaboration in teams when developing software for robots using `Robot Operating System (ROS) - https://www.ros.org/.
     Its main goal is to optimize workflow of development teams and focus more on programming robots.
   </description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
@@ -20,4 +20,3 @@
     <build_type>ament_cmake</build_type>
   </export>
 </package>
-

scripts/_RosTeamWs_Defines.bash

@@ -129,9 +129,9 @@ function colcon_test_up_to {
 function colcon_test_results {
   cd $ROS_WS
   if [ -z "$1" ]; then
-    colcon test-result
+    colcon test-result --all
   else
-    colcon test-result | grep "$*"
+    colcon test-result --all | grep "$*"
   fi
   cd -
 }
@@ -206,6 +206,10 @@ function check_ros_distro {
   ros_version=$DEFAULT_ROS_VERSION
   if [[ $ros_distro == "foxy" ]]; then
     ros_version=2
+  elif [[ $ros_distro == "galactic" ]]; then
+    ros_version=2
+  elif [[ $ros_distro == "rolling" ]]; then
+    ros_version=2
   elif [[ $ros_distro == "noetic" ]]; then
     ros_version=1
   fi
@@ -223,26 +227,28 @@ function compile_and_source_package {
   if [ -z "$2" ]; then
     test="no"
   fi
-  bn=`basename "$PWD"`
-  path=$bn
+
   if [[ -v $ROS_WS ]]; then
     cd $ROS_WS
   else
+    echo "ROS_WS not found, searching manually for main workspace folder."
+    bn=`basename "$PWD"`
     while [[ "$bn" != "src" ]]; do
-      cd ..
-      bn=`basename "$PWD"`
-      path="$bn/$path"
+        cd ..
+        bn=`basename "$PWD"`
     done
     cd ..
+    echo "Using base workspace path: `pwd`"
   fi
-  echo "Trying to compile a newly created package. If you get an error try to do this manually."
+
+  echo "Compiling packages up to '$1'. If you get an error try to compile it manually."
+  # TODO: Why can not use functions from this script? (colcon_test_up_to)
   colcon build --symlink-install --packages-up-to $pkg_name
   source install/setup.bash
   if [[ "$test" == "yes" ]]; then
-    colcon test --packages-select $pkg_name
-    colcon test-result | grep $pkg_name
+    colcon test --packages-select $pkg_name    # Replace colcon_test_up_to
+    colcon test-result --all | grep $pkg_name  # replace colcon_test_result
   fi
-  cd $path
 }
 
 # END: Framework functions

scripts/create-new-package.bash

@@ -76,19 +76,24 @@ esac
 read -p "How do you want to licence your package? ['$TEAM_LICENSE']: " LICENSE
 LICENSE=${LICENSE:=$TEAM_LICENSE}
 
-# Build type
-read -p "Please choose your package build type (1 - ament_cmake, 2 - ament_python, 3 - cmake) [1]:" choice
+if [[ $ros_version == 1 ]]; then
+    BUILD_TYPE="catkin"
 
-case "$choice" in
-"2")
-   BUILD_TYPE="ament_python"
-   ;;
-"3")
-   BUILD_TYPE="cmake"
-   ;;
-*)
-  BUILD_TYPE="ament_cmake"
-esac
+elif [[ $ros_version == 2 ]]; then
+  # Build type
+  read -p "Please choose your package build type (1 - ament_cmake, 2 - ament_python, 3 - cmake) [1]:" choice
+
+  case "$choice" in
+  "2")
+    BUILD_TYPE="ament_python"
+    ;;
+  "3")
+    BUILD_TYPE="cmake"
+    ;;
+  *)
+    BUILD_TYPE="ament_cmake"
+  esac
+fi
 
 echo ""
 echo "ATTENTION: Creating package '$PKG_NAME' in '`pwd`' with description '$PKG_DESCRIPTION', licence '$LICENSE', build type '$BUILD_TYPE' and maintainer '$MAINTAINER_NAME <$MAINTAINER_EMAIL>'"
@@ -116,8 +121,8 @@ elif [[ $ros_version == 2 ]]; then
   fi
 fi
 
-read -p "Do you want to setup/update repository with the new package configuration? (y/n) [n]: " choice
-choice=${choice:="n"}
+read -p "Do you want to setup/update repository with the new package configuration? (y/n) [y]: " choice
+choice=${choice:="y"}
 
 case "$choice" in
 "y")

scripts/environment/setup.bash

@@ -3,13 +3,14 @@ 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
+source $script_own_dir/../_RosTeamWs_Docker_Defines.bash
 source $script_own_dir/../_Team_Defines.bash
 
 # ros distribution name will be set in $ros_distro
 check_ros_distro $1
 
 ws_suffix=$2
-if [[  "$2" == "-" ]]; then
+if [[ "$2" == "-" ]]; then
   ws_suffix=""
 else
   ws_suffix="_$2"
@@ -52,14 +53,18 @@ elif [[ $ros_version == 2 ]]; then
 #   /opt/rti.com/rti_connext_dds-5.3.1/setenv_ros2rti.bash
   # export LANG=de_DE.UTF-8
   WS_FOLDER=""
+  WS_FOLDER_0="$HOME/$ws_folder/$ros_distro$ws_suffix"
   WS_FOLDER_1="$HOME/$ws_folder/ros_ws_$ros_distro$ws_suffix"
   WS_FOLDER_2="$HOME/$ws_folder/ros2_ws_$ros_distro$ws_suffix"
-  if [ -d "$WS_FOLDER_1" ]; then
+
+  if [ -d "$WS_FOLDER_0" ]; then
+    WS_FOLDER=$WS_FOLDER_0
+  elif [ -d "$WS_FOLDER_1" ]; then
     WS_FOLDER=$WS_FOLDER_1
   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 '$WS_FOLDER_0', '$WS_FOLDER_1' nor '$WS_FOLDER_2' exist. Can not find ROS workspace!"
   fi
 
   export ROS_WS=$WS_FOLDER