84 lines
2.8 KiB
Bash
84 lines
2.8 KiB
Bash
#!/bin/bash
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# In order to add these lines to .bashrc do this:
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# Add the following lines in between "#----" to the end of your .bashrc file
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# To do this open .bashrc:
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# sudo nano ~/.bashrc
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# Move to end of .bashrc (arrow down)
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# Highlight the lines below and copy (Ctrl+C)
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# Paste into console at the end of .bashrc (Right click: paste or CTRL+LShift+V)
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#----------------------------------------------------------------------------------
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# ROS 2 SETUP
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echo "ROS 2 Setup:"
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# Source Underlay
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cmd="/opt/ros/foxy/setup.bash"
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source $cmd
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echo "ROS Underlay: "$cmd
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# Source Overlay
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# Change to the path of your workspace's "install/local_setup.bash" file
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cmd="$HOME/colcon_ws/install/local_setup.bash"
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source $cmd
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echo "ROS Overlay: "$cmd
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# You can add other workspaces as overlays
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#cmd="$HOME/colcon_libs/install/local_setup.bash"
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#source $cmd
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#echo "ROS Overlay: "$cmd
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echo "******************************************************"
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# ROS 2 Settings
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# Print ROS Variables
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#printenv | grep -i ROS
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echo "ROS_VERSION: "$ROS_VERSION
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echo "ROS_PYTHON_VERSION: "$ROS_PYTHON_VERSION
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echo "ROS_DISTRO: "$ROS_DISTRO
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echo "******************************************************"
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# Define DDS Channel
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# (this is the channel your ROS system communicates at over your local network)
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# To change the channel open the ROS Underlay setup file:
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# sudo nano /opt/ros/foxy/setup.bash
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# Here, add the following command
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# export ROS_DOMAIN_ID=<your_channel_nr>
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# eg.: export ROS_DOMAIN_ID=69
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# Important: no spaces before and after "=" (in bash)
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# Print DDS Settings
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echo "ROS 2 DDS Settings:"
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export ROS_DOMAIN_ID=69
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echo "ROS_DOMAIN_ID: "$ROS_DOMAIN_ID
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echo "To change: sudo nano /opt/ros/foxy/setup.bash"
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echo "******************************************************"
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# Source colcon directory jump:
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#source /usr/share/colcon_cd/function/colcon_cd.sh
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#export _colcon_cd_root=~/colcon_ws
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# Print active Node & Topics
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echo "ROS 2 Topics active:"
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ros2 topic list
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echo "******************************************************"
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#echo "ROS 2 Nodes active:"
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#ros2 node list
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echo "******************************************************"
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printf "\n"
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echo "If your package is not listed (ros2 pkg list):"
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echo " * make sure you are sourcing the correct workspace: .bashrc"
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echo " * delete build/, install/ and rebuild w/o errors"
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#----------------------------------------------------------------------------------
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# In order to view the git branch you are currently in, add the following lines to the end of your .bashrc file:
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#----------------------------------------------------------------------
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# Parsing of git branch
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parse_git_branch() {
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git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/(\1)/'
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}
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export PS1="\u@\h \[\e[32m\]\w \[\e[91m\]\$(parse_git_branch)\[\e[00m\]$ "
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#---------------------------------------------------------------------- |