🌹 rosa — ROS2 Automation Macros

⚠️ WARNING: Still under active development

rosa is a thin wrapper on ROS2 tools to streamline common ROS2 development tasks. It automatically sources the correct files, and provides a file watcher to automatiaclly build packages upon file changes.

📦 Installation

REQUIREMENT: Make sure you have deno installed on your system (instructions)

deno install --allow-sys --allow-env --allow-run --allow-read --allow-write --unstable -f https://deno.land/x/rosa@v0.0.2/rosa.ts
# Installation (bash)
FILE="${HOME}/.bashrc"
LINE='export PATH="/home/$USER/.deno/bin:$PATH"' # Add deno bin to .bashrc if it doesn't exist (tested on ubuntu)
grep -qF -- "$LINE" "$FILE" || echo "$LINE" >> "$FILE"
LINE='source <(rosa completions bash)' # Add rosa bash completions to .bashrc if it doesn't exist
grep -qF -- "$LINE" "$FILE" || echo "$LINE" >> "$FILE"

👨‍💻 Sample usage

ℹ️ NOTE: Make sure your current working directory is inside of a ROS2 workspace (could be any sub-directory of the workspace). During first use of any rosa commands in a new workspace, it prompts for user configuration (mainly choosing which ROS2 installation to use).

Creating a new package

Click to show original steps...

# Open a new terminal
source /opt/ros/<distribution>/setup.sh
cd ../../ # (cd'ing to workspace root)
ros2 pkg create --build-type ament_cmake <package name>

# Run this from any existing terminal inside the workspace
rosa init-pkg
# ? Enter the name of the package › new_package
# ? Enter the description of the package › A sample package
# ? Select the build type › ament_python
# ? Create empty node? (y/n) › Yes
# ? Enter the name of the node › new_node
# ? Select a license? (y/n) › Yes
# ? Select a license › MIT
# ...

Building the current package

Click to show original steps...

# Open a new terminal
source /opt/ros/<distribution>/setup.sh
cd ../../ # (cd'ing to workspace root)
colcon build --packages-select <package name>

rosa build # Automatically builds the package folder you are in

Or, if you want to automatically build the package upon file changes:

rosa watch

Setting up terminal environment to use ros2 CLI

Click to show original steps...

source /opt/ros/<distribution>/setup.sh
source ../../install/setup.sh
ros2

rosa wsh # wsh = workspace shell
ros2

For more information, run rosa --help or rosa <command> --help

Todo

General

• Compatibility with more shell environments (currently only bash is supported)

Watcher

• Allow per package configuration of build options (e.g., always use --symlink-install)
• Make watcher dependency aware and automatically dependent packages