From 4fe4cd554a29d0c744e72fc693f2a715e941c6bf Mon Sep 17 00:00:00 2001 From: alberthli Date: Thu, 25 Jul 2024 09:23:09 -0700 Subject: [PATCH] weird error in pixi on this branch, just push for diff --- .obk_aliases | 191 +++++++++++++++++++++++++++++++ docker/Dockerfile | 3 + docker/docker-compose-ci.yml | 4 +- docker/docker-compose-no-gpu.yml | 4 +- docker/docker-compose.yml | 4 +- pixi.lock | 56 ++++----- scripts/docker_setup.sh | 16 +++ scripts/user_setup.sh | 43 ++++--- setup.sh | 9 +- 9 files changed, 273 insertions(+), 57 deletions(-) create mode 100644 .obk_aliases diff --git a/.obk_aliases b/.obk_aliases new file mode 100644 index 00000000..b0971021 --- /dev/null +++ b/.obk_aliases @@ -0,0 +1,191 @@ +# >>> obelisk aliases >>> +# !! Contents in this block are managed by obelisk !! + +# alias for setting up obelisk global settings in current shell +function obk { + cmd=' +export OBELISK_ROOT=$OBELISK_ROOT +export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +export RCUTILS_COLORIZED_OUTPUT=1 +' + + # Check if the --permanent flag is passed + if [[ "$1" == "--permanent" ]]; then + sed '/# >>> obk >>>/,/# <<< obk << ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp + echo "# >>> obk >>>" >> ~/.bashrc + echo "$cmd" >> ~/.bashrc + echo "# <<< obk <<<" >> ~/.bashrc + echo -e "\033[1;32mObelisk global settings added to ~/.bashrc!\033[0m" + fi + + # Check if the --remove flag is passed + if [[ "$1" == "--remove" ]]; then + sed '/# >>> obk >>>/,/# <<< obk << ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp + echo -e "\033[1;32mObelisk global settings removed from ~/.bashrc!\033[0m" + return + fi + + if [[ -z "$HAS_OBK_ACTIVATED" ]]; then + # globally useful obelisk settings + eval "$cmd" + + # edits the shell prompt to include [obk] the first time obk is called in this shell + echo -e "\033[1;32mObelisk global settings applied!\033[0m" + BLUE="\[\033[0;34m\]" + RESET="\[\033[0m\]" + PS1="${BLUE}[obk]${RESET} $PS1" + export PS1 + export HAS_OBK_ACTIVATED=true + fi + + # checks if current shell is a conda or pixi shell - if not, source base ros if /opt/ros/humble/setup.bash exists + # in the case of conda, it will source base ros if $CONDA_DEFAULT_ENV is "base" still + if [[ -z "$CONDA_DEFAULT_ENV" || "$CONDA_DEFAULT_ENV" == "base" ]] && [[ -z "$PIXI_ENVIRONMENT_NAME" ]]; then + if [ -f "/opt/ros/humble/setup.bash" ]; then + echo -e "\033[1;32mSourcing base ROS2 Humble installation...\033[0m" + source /opt/ros/humble/setup.bash + fi + fi + + # regardless of whether obk has been run, source the obelisk ros packages + if [ -d "$OBELISK_ROOT/obelisk_ws/install" ]; then + source $OBELISK_ROOT/obelisk_ws/install/setup.bash + else + source $OBELISK_ROOT/scripts/build_obelisk.sh --leap --zed + source $OBELISK_ROOT/obelisk_ws/install/setup.bash + fi +} + +# convenience aliases for building/cleaning obelisk source packages +alias obk-build='source $OBELISK_ROOT/scripts/build_obelisk.sh --leap --zed ' +alias obk-clean='bash $OBELISK_ROOT/scripts/clean_obelisk.sh' + +# convenience aliases for lifecycle commands +function obk-lifecycle { + if [[ -z "$1" || -z "$2" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-lifecycle \033[0m" + return 1 + fi + ros2 lifecycle set "$1" "$2" +} + +function obk-configure { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-configure \033[0m" + return 1 + fi + obk-lifecycle "$1" configure +} + +function obk-activate { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-activate \033[0m" + return 1 + fi + obk-lifecycle "$1" activate +} + +function obk-deactivate { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-deactivate \033[0m" + return 1 + fi + obk-lifecycle "$1" deactivate +} + +function obk-cleanup { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-cleanup \033[0m" + return 1 + fi + obk-lifecycle "$1" cleanup +} + +function obk-shutdown { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-shutdown \033[0m" + return 1 + fi + obk-lifecycle "$1" shutdown +} + +function obk-start { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-start \033[0m" + return 1 + fi + obk-lifecycle "$1" configure +} + +function obk-stop { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-stop \033[0m" + return 1 + fi + obk-lifecycle "$1" deactivate + obk-lifecycle "$1" cleanup +} + +function obk-kill { + if [[ -z "$1" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-kill \033[0m" + return 1 + fi + obk-lifecycle "$1" shutdown +} + +# convenience function for ros2 launch command +function obk-launch { + local config_file_path="" + local device_name="" + local auto_start="True" + local bag="True" + + while [[ $# -gt 0 ]]; do + key="$1" + case $key in + config_file_path=*) + config_file_path="${key#*=}" + shift + ;; + device_name=*) + device_name="${key#*=}" + shift + ;; + auto_start=*) + auto_start="${key#*=}" + shift + ;; + bag=*) + bag="${key#*=}" + shift + ;; + *) + echo "Unknown option $key" + return 1 + ;; + esac + done + + # Check if any of the required arguments are empty + if [[ -z "$config_file_path" || -z "$device_name" ]]; then + echo -e "\033[1;34mError: Missing required arguments.\033[0m" + echo -e "\033[1;34mUsage: obk-launch config_file_path= device_name= auto_start=\033[0m" + return 1 + fi + + ros2 launch obelisk_ros obelisk_bringup.launch.py config_file_path:=${config_file_path} device_name:=${device_name} auto_start:=${auto_start} bag:=${bag} +} + +# help command +alias obk-help='echo -e "\033[1;34m================\nObelisk Commands\n================\nobk:\nSets up global environment variables for Obelisk in the current shell.\nUsage: obk [--permanent|--remove]\nOptions:\n --permanent: Adds the global settings to ~/.bashrc.\n --remove: Removes the global settings from ~/.bashrc.\n\nobk-build:\nBuilds Obelisk nodes after you have activated a pixi environment.\n\nobk-launch:\nLaunches the obelisk_bringup.launch.py with specified arguments.\nUsage: obk-launch config_file_path= device_name= auto_start= bag=\nExample:\n obk-launch config_file_path=example.yaml device_name=onboard auto_start=True bag=True\n\nState Transitions:\nobk-configure:\n Configure all Obelisk nodes.\n Usage: obk-configure \nobk-activate:\n Activate all Obelisk nodes.\n Usage: obk-activate \nobk-deactivate:\n Deactivate all Obelisk nodes.\n Usage: obk-deactivate \nobk-cleanup:\n Cleanup all Obelisk nodes.\n Usage: obk-cleanup \nobk-shutdown:\n Shutdown all Obelisk nodes.\n Usage: obk-shutdown \n\nConvenience Commands:\nobk-start:\n Alias for obk-configure.\n Usage: obk-start \nobk-stop:\n Alias for obk-deactivate and obk-cleanup.\n Usage: obk-stop \nobk-kill:\n Alias for obk-shutdown.\n Usage: obk-kill \n\nobk-help:\n Display this help message.\nIn all the above commands, refers to the config field of the config file used for launching obelisk.\033[0m"' +# <<< obelisk aliases <<< diff --git a/docker/Dockerfile b/docker/Dockerfile index 59a0fbc5..eeeba83f 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -14,6 +14,7 @@ ARG OBELISK_DOCKER_CYCLONE_PERF=false ARG OBELISK_DOCKER_LEAP=false ARG OBELISK_DOCKER_ZED=false ARG OBELISK_DOCKER_PIXI=false +ARG OBELISK_DOCKER_OBK_ALIASES=false ENV USER=$USER ENV UID=$UID @@ -24,6 +25,7 @@ ENV OBELISK_DOCKER_CYCLONE_PERF=$OBELISK_DOCKER_CYCLONE_PERF ENV OBELISK_DOCKER_LEAP=$OBELISK_DOCKER_LEAP ENV OBELISK_DOCKER_ZED=$OBELISK_DOCKER_ZED ENV OBELISK_DOCKER_PIXI=$OBELISK_DOCKER_PIXI +ENV OBELISK_DOCKER_OBK_ALIASES=$OBELISK_DOCKER_OBK_ALIASES ENV XDG_RUNTIME_DIR=/run/user/${UID} @@ -69,6 +71,7 @@ USER ${UID} COPY user_setup.sh /tmp/user_setup.sh RUN FLAGS=""; \ [ "$OBELISK_DOCKER_PIXI" = "true" ] && FLAGS="$FLAGS --pixi"; \ + [ "$OBELISK_DOCKER_OBK_ALIASES" = "true" ] && FLAGS="$FLAGS --obk-aliases"; \ source /tmp/user_setup.sh $FLAGS && \ sudo rm /tmp/user_setup.sh diff --git a/docker/docker-compose-ci.yml b/docker/docker-compose-ci.yml index b7f53992..65464088 100644 --- a/docker/docker-compose-ci.yml +++ b/docker/docker-compose-ci.yml @@ -9,6 +9,7 @@ services: GID: $UID OBELISK_ROOT: $OBELISK_ROOT OBELISK_DOCKER_PIXI: true + OBELISK_DOCKER_OBK_ALIASES: $OBELISK_DOCKER_OBK_ALIASES dockerfile: Dockerfile network_mode: host ipc: host @@ -19,6 +20,7 @@ services: GID: $UID OBELISK_ROOT: $OBELISK_ROOT OBELISK_DOCKER_PIXI: true + OBELISK_DOCKER_OBK_ALIASES: $OBELISK_DOCKER_OBK_ALIASES QT_X11_NO_MITSHM: 1 security_opt: - seccomp=unconfined @@ -29,7 +31,7 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - $HOME/.Xauthority:$HOME/.Xauthority:rw - $HOME/.bashrc:$HOME/.bashrc - - $HOME/.bash_aliases:$HOME/.bash_aliases + - $OBELISK_ROOT/obk_aliases.sh:$OBELISK_ROOT/obk_aliases.sh ports: - 7007:7007 privileged: true diff --git a/docker/docker-compose-no-gpu.yml b/docker/docker-compose-no-gpu.yml index ec10eed3..14c512de 100644 --- a/docker/docker-compose-no-gpu.yml +++ b/docker/docker-compose-no-gpu.yml @@ -12,6 +12,7 @@ services: OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI + OBELISK_DOCKER_OBK_ALIASES: $OBELISK_DOCKER_OBK_ALIASES dockerfile: Dockerfile network_mode: host ipc: host @@ -25,6 +26,7 @@ services: OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI + OBELISK_DOCKER_OBK_ALIASES: $OBELISK_DOCKER_OBK_ALIASES QT_X11_NO_MITSHM: 1 security_opt: - seccomp=unconfined @@ -35,7 +37,7 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - $HOME/.Xauthority:$HOME/.Xauthority:rw - $HOME/.bashrc:$HOME/.bashrc - - $HOME/.bash_aliases:$HOME/.bash_aliases + - $OBELISK_ROOT/obk_aliases.sh:$OBELISK_ROOT/obk_aliases.sh - $HOME/.gitconfig:$HOME/.gitconfig - $HOME/.ssh:$HOME/.ssh ports: diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml index 40b18ecb..04e7582f 100644 --- a/docker/docker-compose.yml +++ b/docker/docker-compose.yml @@ -13,6 +13,7 @@ services: OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI + OBELISK_DOCKER_OBK_ALIASES: $OBELISK_DOCKER_OBK_ALIASES dockerfile: Dockerfile network_mode: host ipc: 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setuptools diff --git a/scripts/docker_setup.sh b/scripts/docker_setup.sh index 6c392d6b..cd72cdcb 100644 --- a/scripts/docker_setup.sh +++ b/scripts/docker_setup.sh @@ -6,6 +6,7 @@ docker_cyclone_perf=false docker_leap=false docker_zed=false docker_pixi=false +docker_obk_aliases=false for arg in "$@"; do case $arg in @@ -34,6 +35,10 @@ for arg in "$@"; do docker_pixi=true shift # Sets OBELISK_DOCKER_PIXI=true for docker, which installs Pixi ;; + --docker-obk-aliases) + docker_obk_aliases=true + shift # Sets OBELISK_DOCKER_OBK_ALIASES=true for docker, which sets up Obelisk aliases + ;; --help) echo "Usage: $0 [OPTIONS] @@ -44,6 +49,7 @@ Options: --docker-leap Set OBELISK_DOCKER_LEAP=true for docker, which installs LEAP hand dependencies --docker-zed Set OBELISK_DOCKER_ZED=true for docker, which installs ZED SDK --docker-pixi Set OBELISK_DOCKER_PIXI=true for docker, which installs Pixi + --docker-obk-aliases Set OBELISK_DOCKER_OBK_ALIASES=true for docker, which sets up Obelisk aliases --help Display this help message and exit " @@ -185,6 +191,16 @@ else export OBELISK_DOCKER_PIXI=false fi +if [ "$docker_obk_aliases" = true ]; then + echo -e "\033[1;32mSetting OBELISK_DOCKER_OBK_ALIASES=true!\033[0m" + echo "OBELISK_DOCKER_OBK_ALIASES=true" >> $env_file + export OBELISK_DOCKER_OBK_ALIASES=true +else + echo -e "\033[1;33mSetting OBELISK_DOCKER_OBK_ALIASES=false!\033[0m" + echo "OBELISK_DOCKER_OBK_ALIASES=false" >> $env_file + export OBELISK_DOCKER_OBK_ALIASES=false +fi + # copy scripts to the docker directory cp $OBELISK_ROOT/scripts/install_sys_deps.sh $OBELISK_ROOT/docker/install_sys_deps.sh cp $OBELISK_ROOT/scripts/user_setup.sh $OBELISK_ROOT/docker/user_setup.sh diff --git a/scripts/user_setup.sh b/scripts/user_setup.sh index 3249bdac..89b78ffb 100644 --- a/scripts/user_setup.sh +++ b/scripts/user_setup.sh @@ -16,7 +16,7 @@ for arg in "$@"; do ;; --obk-aliases) obk_aliases=true - shift # Adds obelisk aliases to the ~/.bash_aliases file + shift # Adds obelisk aliases to the $OBELISK_ROOT/.obk_aliases file ;; # alias configuration @@ -47,23 +47,23 @@ if [ "$pixi" = true ]; then fi fi -# [2] adds obelisk aliases to the ~/.bash_aliases file +# [2] adds obelisk aliases to the $OBELISK_ROOT/.obk_aliases file if [ "$obk_aliases" = true ]; then - # check if ~/.bash_aliases is sourced in ~/.bashrc; if not, add it - block='if [ -f ~/.bash_aliases ]; then - . ~/.bash_aliases -fi' - if ! grep -q "$block" ~/.bashrc; then - echo "$block" >> ~/.bashrc - echo -e "\033[1;32mAdded code to source ~/.bash_aliases in ~/.bashrc!\033[0m" - fi + # check if $OBELISK_ROOT/.obk_aliases is sourced in ~/.bashrc; if not, add it + OBELISK_ROOT=$(dirname $(dirname $(readlink -f ${BASH_SOURCE[0]}))) + block="# >>> obelisk >>> +export OBELISK_ROOT=\"$OBELISK_ROOT\" +if [ -f \$OBELISK_ROOT/.obk_aliases ]; then + . \$OBELISK_ROOT/.obk_aliases +fi +# <<< obelisk <<<" + sed '/# >>> obelisk >>>/,/# <<< obelisk << ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp + echo "$block" >> ~/.bashrc - # check whether ~/.bash_aliases exists; if not, touch it - if [ ! -f ~/.bash_aliases ]; then - touch ~/.bash_aliases - echo -e "\033[1;32mCreated ~/.bash_aliases file!\033[0m" - else - echo -e "\033[1;33m~/.bash_aliases file already exists, not creating a new one...\033[0m" + # check whether $OBELISK_ROOT/.obk_aliases exists; if so, delete it and remake it + if [ -f $OBELISK_ROOT/.obk_aliases ]; then + rm $OBELISK_ROOT/.obk_aliases + touch $OBELISK_ROOT/.obk_aliases fi # creating obelisk aliases @@ -77,7 +77,7 @@ fi' fi obk_aliases=$(cat << EOF -# >>> obelisk >>> +# >>> obelisk aliases >>> # !! Contents in this block are managed by obelisk !! # alias for setting up obelisk global settings in current shell @@ -294,12 +294,11 @@ obk-kill:\n Alias for obk-shutdown.\n Usage: obk-kill \n\n\ obk-help:\n Display this help message.\n\ In all the above commands, refers to the config field of the config file used for launching obelisk.\ \033[0m"' -# <<< obelisk <<< +# <<< obelisk aliases <<< EOF ) - sed '/# >>> obelisk >>>/,/# <<< obelisk << ~/.bash_aliases.tmp && cp ~/.bash_aliases.tmp ~/.bash_aliases && rm ~/.bash_aliases.tmp - echo "$obk_aliases" >> ~/.bash_aliases - echo -e "\033[1;32mObelisk aliases added to ~/.bash_aliases!\033[0m" + echo "$obk_aliases" >> $OBELISK_ROOT/.obk_aliases + echo -e "\033[1;32mObelisk aliases added to $OBELISK_ROOT/.obk_aliases!\033[0m" else - echo -e "\033[1;33mObelisk aliases not added to ~/.bash_aliases. To add, pass the --obk-aliases flag.\033[0m" + echo -e "\033[1;33mObelisk aliases not added to $OBELISK_ROOT/.obk_aliases. To add, pass the --obk-aliases flag.\033[0m" fi diff --git a/setup.sh b/setup.sh index 1f71b81b..0156af0d 100644 --- a/setup.sh +++ b/setup.sh @@ -111,21 +111,22 @@ done export OBELISK_ROOT=$(dirname $(readlink -f ${BASH_SOURCE[0]})) # docker setup +# never install docker inside docker (no --docker-install flag passed) # if you want to use the ZED camera, you always need the local deps if [ "$install_sys_deps_docker" = true ]; then source $OBELISK_ROOT/scripts/docker_setup.sh \ - $([ "$docker_install" = true ] && echo "--docker-install") \ $([ "$basic" = true ] && echo "--docker-basic") \ $([ "$cyclone_perf" = true ] && echo "--docker-cyclone-perf") \ $([ "$leap" = true ] && echo "--docker-leap") \ $([ "$zed" = true ] && echo "--docker-zed") \ - $([ "$pixi" = true ] && echo "--docker-pixi") + $([ "$pixi" = true ] && echo "--docker-pixi") \ + $([ "$obk_aliases" = true ] && echo "--docker-obk-aliases") else source $OBELISK_ROOT/scripts/docker_setup.sh \ - $([ "$docker_install" = true ] && echo "--docker-install") \ $([ "$cyclone_perf" = true ] && echo "--docker-cyclone-perf") \ $([ "$zed" = true ] && echo "--docker-zed") \ - $([ "$pixi" = true ] && echo "--docker-pixi") + $([ "$pixi" = true ] && echo "--docker-pixi") \ + $([ "$obk_aliases" = true ] && echo "--docker-obk-aliases") fi # system-level deps