🌹 rosa — ROS2 Automation Macros

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

  • Make sure you have deno installed on your system
    > deno install --allow-sys --allow-env --allow-run --allow-read --allow-write --unstable -f https://deno.land/x/rosa/rosa.ts
# You may need to add the binary directory to your PATH variable to make it runnable everywhere, or add it to your .bashrc file
> export PATH="/home/$USER/.deno/bin:$PATH"

    👨‍💻 Sample usage

    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).

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 # or alternatively, rosa workspace-shell
> ros2

Building a 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>
# Run this from any existing terminal inside the package
> rosa build # Automatically builds the package folder you are in

Watching and automatically building packages in workspace (experimental)

# Run this as long as you are inside a workspace
> rosa watch-all # Maps all packages within workspace, and if there are any files changes, the package is rebuilt.

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