ROS Builder

Build and test your ROS1 and ROS2 packages with catkin or colcon!

Features

• Build current ROS package
• Build and run tests for current package
• Build and run current unit test
• Rebuild and run test on write
• Optionally uses asyncrun to run builds

Installation

NOTE: Requires neovim v0.9 or newer with vim.fs support!

Installation with lazy.nvim, include the following spec:

{
  "bi0ha2ard/ros-builder.nvim",
  dependencies = {
    'nvim-lua/plenary.nvim',
    -- Optional, to use asyncrun as the launcher
    'skywind3000/asyncrun.vim',
  },
  opts = {}
},

Installation with packer.nvim:

return require('packer').startup(function(use)
  use 'nvim-lua/plenary.nvim'

  use {"/home/felix/git/ros-builder.nvim",
    config = [[require("ros-builder").setup()]]
  }

  -- Optional, to use asyncrun as the launcher
  use 'skywind3000/asyncrun.vim'
end

Usage

Building

Default mapping: <leader>b

Builds current package and dependencies.

Testing

Default mapping: <leader>bt

This builds the package without its dependencies (for less latency) and then does one of the following:

• In a unit test file (a cpp file in a /test or /tests folder): Builds the unit test that corresponds to the file and runs it, if it can guess the test name.
• In any other file, use the build system to run all tests for the package.

In test files, you can use :RosAutoRunTest to set up an autocommand to rebuild and run the test on each file write. Use :RosStopAutoRunTest to disable it again.

Configuration

Build system and workspace root

The plugin tries to detect where the workspace root is and which build system to use.

• If ros2 is executable, it defaults to colcon, otherwise it selects catkin.
• If ros2 is available and colb is installed, the colb builder is selected.
• If ros2 and ninja are available, the colcon_ninja builder is selected.

The workspace root is detected by the presence of a .catkin_tools folder, .colb.toml file, or a build directory.

To check the detected configuration, run :checkhealth ros-buildder.

You can also overwrite these by passing them to the setup() function:

require("ros-builder").setup({
    options = {
        workspace = "/some/path/my_workspace",
        build_system = "colcon",
        write_before_build = true, -- Whether to write current file before building
        run_test = true, -- Whether to run tests after building them
    }
})

Changing the mappings

Pass a keys table to the setup function:

require("ros-builder").setup({
    keys = {
      build = "<leader>b",
      test = "<leader>bt",
    }
})

Changing build system flags

Pass tables with options for the specific build system, for example:

require("ros-builder").setup({
    systems = {
      colcon_ninja = {
        opts = {
          cmake_args = {"-DCMAKE_CXX_FLAGS=-ggdb"},
          mixins = {"compile-commands", "ccache"},
          build = { "--symlink-install" },
        },
      },
      colcon = {
        opts = {
          cmake_args = {"-DCMAKE_CXX_FLAGS=-ggdb"},
          mixins = {"compile-commands", "ccache"},
          build = { "--symlink-install" },
        },
      },
      catkin = {
        opts = {
          build = { "-j12", "--no-notify" },
        },
      }
    }
})

Launcher

The launcher will use a split terminal from asyncrun if that's installed. Otherwise, it uses the builtin terminal.

You can pass your own function accepting a command to run and a working directory:

require("ros-builder").setup({
    options = {
        launcher = function(command, cwd)
          vim.cmd.terminal("cd " .. cwd .. " && " .. command)
        end
    }
})

Run with asyncrun in quickfix instead of the terminal:

local launcher = require('ros-builder.launchers').asyncrun_qf
require("ros-builder").setup({
    options = {
        launcher = launcher,
    }
})