Adding quick-start tutorials and making simple starting better. (Stog…

…lRobotics#54)

docs/index.rst

@@ -50,7 +50,7 @@ The opinions and proposals stated here are merely related to the authors' experi
 .. toctree::
    :hidden:
 
-   getting_started/index.rst
+   tutorials/index.rst
    guidelines/index.rst
    use-cases/index.rst
    docker/index.rst

docs/tutorials/index.rst

@@ -0,0 +1,12 @@
+===========
+Tutorials
+===========
+
+These tutorials will quickly get you using the ROS Team Workspace.
+
+.. toctree::
+   :maxdepth: 2
+   :numbered:
+
+   quick-start.rst
+   setting_up_rtw.rst

docs/tutorials/quick-start.rst

@@ -0,0 +1,80 @@
+==================================
+Quick start with RosTeamWorkspace
+==================================
+.. _tutorial-quick-start:
+
+This tutorial show use of RosTeamWorkspace for very common use-cases that can be done without permanent changes to your environment.
+First you have to clone and source the workspace and then continue with the use-case you are interested in:
+
+.. toctree::
+   :maxdepth: 1
+
+
+Clone and source the RosTeamWorkspace
+---------------------------------------
+.. code-block:: bash
+
+   git clone https://github.com/StoglRobotics/ros_team_workspace.git
+   source ros_team_workspace/setup.bash
+
+
+Create new package in an existing workspace
+--------------------------------------------------------
+For more details check :ref:`use-case description <uc-new-package>`.
+
+.. code-block:: bash
+
+   source <path to your ROS workspace>/install/setup.bash
+   cd <src folder of your ROS workspace>
+
+   create-new-package <my_new_package_name> "Some cool description of the package."  # follow the instructions
+
+   cd .. && colcon build --symlink-install  # to compile your newly created package
+
+
+Create robot description package
+-------------------------------------------------
+For more details check :ref:`use-case description <uc-setup-robot-description>`.
+
+.. code-block:: bash
+
+   source <path to your ROS workspace>/install/setup.bash
+   cd <src folder of your ROS workspace>/<package_name>
+
+   setup-robot-description <my_cool_robot_name> <package_name>
+
+
+Create robot bringup package
+-----------------------------------------------
+For more details check :ref:`use-case description <uc-setup-robot-bringup>`.
+
+.. code-block:: bash
+
+   source <path to your ROS workspace>/install/setup.bash
+   cd <src folder of your ROS workspace>/<package_name>
+
+   setup-robot-bringup <my_cool_robot_name> <package_name>
+
+
+Setup  ros2_control control hardware
+-------------------------------------------------
+For more details check :ref:`use-case description <uc-setup-ros2-control-hardware>`.
+
+.. code-block:: bash
+
+   source <path to your ROS workspace>/install/setup.bash
+   cd <src folder of your ROS workspace>/<package_name>
+
+   ros2_control_setup-hardware-interface-package <control_hardware_file_name>
+
+
+Setup  ros2_control controller
+-----------------------------------------------
+For more details check :ref:`use-case description <uc-setup-ros2-controller>`.
+
+.. code-block:: bash
+
+   source <path to your ROS workspace>/install/setup.bash
+   cd <src folder of your ROS workspace>/<package_name>
+
+   ros2_control_setup-controller-package <controller_file_name>

docs/tutorials/setting_up_rtw.rst

@@ -0,0 +1,47 @@
+============================
+Setting up RosTeamWorkspace
+============================
+.. _tutorial-setting-up-rtw:
+
+To start using RosTeamWS framework clone the repository to any location using:
+
+.. code-block:: bash
+
+   git clone https://github.com/StoglRobotics/ros_team_workspace.git
+
+
+Source the ``setup.bash``` in the top folder of RosTeamWorkspace:
+
+.. code-block:: bash
+
+   source ros_team_workspace/setup.bash
+
+
+Execute the following to configure the RosTeamWorkspace permanently.
+
+**ATTENTION**: The following will work only if RosTeamWorkspace is checked out in ``/opt/RosTeamWS/ros_ws_rolling/src/`` folder! We are working on fixing this. The progress can se followed in `this issue <https://github.com/StoglRobotics/ros_team_workspace/issues/51>`_.
+
+Add auto-sourcing of configuration to your ``.bashrc`` file by adding following lines to its end using your favorite text editor (e.g., ``vim`` or ``nano``):
+
+.. code-block:: bash
+
+   if [ -f ~/.ros_team_ws_rc ]; then
+       . ~/.ros_team_ws_rc
+   fi
+
+Copy ``templates/.ros_team_ws_rc`` file to your home folder using
+
+.. code-block:: bash
+
+   cp ros_team_workspace/templates/.ros_team_ws_rc ~/
+
+
+and adjust the following values using your favorite text editor:
+
+- ``<PATH TO ros_team_workspace>`` - with a path to the framework folder
+
+Now you are ready to
+
+- :ref:`setup your first workspace <uc-setup-workspace>`
+- :ref:`quick-start <tutorial-quick-start>`
+- or :ref:`other use-cases <uc-index>`.

scripts/setup-robot-bringup.bash

@@ -53,7 +53,7 @@ read -p "If correct press <ENTER>, otherwise <CTRL>+C and start the script again
 RM_FOLDERS=("include" "src")
 
 for FOLDER in "${RM_FOLDERS[@]}"; do
-  if [ -d $FOLDER && ! "$(ls -A $FOLDER )" ]; then
+  if [[ -d $FOLDER && ! "$(ls -A $FOLDER )" ]]; then
     rm -r $FOLDER
   fi
 done

setup.bash

@@ -3,6 +3,9 @@ setup_script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null && pw
 # Load RosTeamWS defines
 source $setup_script_own_dir/scripts/_RosTeamWs_Defines.bash
 
+# Set default paths
+framework_default_paths $DEFAULT_ROS_DISTRO
+
 # Load Team defines
 source $setup_script_own_dir/scripts/_Team_Defines.bash
 
@@ -11,5 +14,3 @@ source $setup_script_own_dir/scripts/_RosTeamWs_Docker_Defines.bash
 
 # Set main path where source.bash is defined
 RosTeamWS_FRAMEWORK_MAIN_PATH="$(RosTeamWS_script_own_dir)/../"
-
-framework_default_paths $DEFAULT_ROS_DISTRO

templates/.ros_team_ws_rc

@@ -10,18 +10,95 @@ TEAM_REPOSITORY_SERVER="https://github.com"
 
 TEAM_PRIVATE_CONFIG_PATH=""
 
-source <Path to ros_team_workspace>/setup.bash
+source <PATH TO ros_team_workspace>/setup.bash
 
 # User specific setup / variables
 
 #export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>ADD_HERE_INTERFACE_NAME</NetworkInterfaceAddress></General></Domain></CycloneDDS>'
 
-export ROS_DOMAIN_ID=46  # Set your Domain ID if you are in a network with multiple computers
+export ROS_DOMAIN_ID=ID  # Set your Domain ID if you are in a network with multiple computers
 
 # Logging setup
 # export RCUTILS_LOGGING_CONFIG_FILE="/home/deniss/workspace/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
 
+
+# BEGIN: Stogl Robotics custom setup for nice colors and showing ROS workspace
+
+# Check this out: https://www.shellhacks.com/bash-colors/
+export TERMINAL_COLOR_NC='\e[0m' # No Color
+export TERMINAL_COLOR_BLACK='\e[0;30m'
+export TERMINAL_COLOR_GRAY='\e[1;30m'
+export TERMINAL_COLOR_RED='\e[0;31m'
+export TERMINAL_COLOR_LIGHT_RED='\e[1;31m'
+export TERMINAL_COLOR_GREEN='\e[0;32m'
+export TERMINAL_COLOR_LIGHT_GREEN='\e[1;32m'
+export TERMINAL_COLOR_BROWN='\e[0;33m'
+export TERMINAL_COLOR_YELLOW='\e[1;33m'
+export TERMINAL_COLOR_BLUE='\e[0;34m'
+export TERMINAL_COLOR_LIGHT_BLUE='\e[1;34m'
+export TERMINAL_COLOR_PURPLE='\e[0;35m'
+export TERMINAL_COLOR_LIGHT_PURPLE='\e[1;35m'
+export TERMINAL_COLOR_CYAN='\e[0;36m'
+export TERMINAL_COLOR_LIGHT_CYAN='\e[1;36m'
+export TERMINAL_COLOR_LIGHT_GRAY='\e[0;37m'
+export TERMINAL_COLOR_WHITE='\e[1;37m'
+
+export TERMINAL_BG_COLOR_BLACK='\e[40m'
+export TERMINAL_BG_COLOR_GRAY='\e[1;40m'
+export TERMINAL_BG_COLOR_RED='\e[41m'
+export TERMINAL_BG_COLOR_LIGHT_RED='\e[1;41m'
+export TERMINAL_BG_COLOR_GREEN='\e[42m'
+export TERMINAL_BG_COLOR_LIGHT_GREEN='\e[1;42m'
+export TERMINAL_BG_COLOR_BROWN='\e[43m'
+export TERMINAL_BG_COLOR_YELLOW='\e[1;43m'
+export TERMINAL_BG_COLOR_BLUE='\e[44m'
+export TERMINAL_BG_COLOR_LIGHT_BLUE='\e[1;44m'
+export TERMINAL_BG_COLOR_PURPLE='\e[45m'
+export TERMINAL_BG_COLOR_LIGHT_PURPLE='\e[1;45m'
+export TERMINAL_BG_COLOR_CYAN='\e[46m'
+export TERMINAL_BG_COLOR_LIGHT_CYAN='\e[1;46m'
+export TERMINAL_BG_COLOR_LIGHT_GRAY='\e[47m'
+export TERMINAL_BG_COLOR_WHITE='\e[1;47m'
+
+if [ -n "$SSH_CLIENT" ]; then text="-ssh-session"
+fi
+
+function parse_vc_branch_and_add_brackets {
+  gitbranch=`git branch --no-color 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/\1/'`
+
+  if [[ "$gitbranch" != '' ]]; then
+    echo "<${gitbranch}"
+#   else
+#     echo "<no-git-branch"
+  fi
+}
+
+function set_ros_workspace_color {
+  if [[ -n ${ROS_WS} ]]; then
+
+    if [[ $PWD == *"${ROS_WS}"* ]]; then
+      color=${TERMINAL_COLOR_CYAN}
+    else
+      color=${TERMINAL_BG_COLOR_RED}
+    fi
+
+    echo -e "${color}"
+  fi
+}
+
+function parse_ros_workspace {
+  if [[ -n ${ROS_WS} ]]; then
+
+    echo "[${ROS_WS##*/}]"
+  fi
+}
+
+export PS1="\[${TERMINAL_COLOR_LIGHT_GRAY}\]"'[\t]\['"\[${TERMINAL_COLOR_LIGHT_GREEN}\]"'\u\['"\[${TERMINAL_COLOR_LIGHT_GRAY}\]"'@\['"\[${TERMINAL_COLOR_BROWN}\]"'\h\['"\[${TERMINAL_COLOR_YELLOW}\]"'${text}\['"\[${TERMINAL_COLOR_LIGHT_GRAY}\]"':'"\["'$(set_ros_workspace_color)'"\]"'$(parse_ros_workspace)\['"\[${TERMINAL_COLOR_GREEN}\]"'$(parse_vc_branch_and_add_brackets)>\['"\[${TERMINAL_COLOR_LIGHT_PURPLE}\]"'\W\['"\[${TERMINAL_COLOR_LIGHT_PURPLE}\]"'$\['"\[${TERMINAL_COLOR_NC}\]"'\[\e[m\] '
+
+# END: Stogl Robotics custom setup for nice colors and showing ROS workspace
+
+
 # WORKSPACES