Debug

.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 [[ "$1" == "--permanent" ]]; then
+        sed '/# >>> obk >>>/,/# <<< obk <<</d' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
+        echo "# >>> obk >>>" >> ~/.bashrc
+        echo "$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 [[ "$1" == "--remove" ]]; then
+        sed '/# >>> obk >>>/,/# <<< obk <<</d' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
+        echo -e "\033[1;32mObelisk global settings removed from ~/.bashrc!\033[0m"
+        return
+    fi
+
+    if [[ -z "$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 <node> <state>\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 <config_name>\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 <config_name>\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 <config_name>\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 <config_name>\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 <config_name>\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 <config_name>\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 <config_name>\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 <config_name>\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 "$device_name" ]]; then
+        echo -e "\033[1;34mError: Missing required arguments.\033[0m"
+        echo -e "\033[1;34mUsage: obk-launch config_file_path=<path> device_name=<name> auto_start=<True|False>\033[0m"
+        return 1
+    fi
+
+    ros2 launch obelisk_ros obelisk_bringup.launch.py config_file_path:=${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=<path> device_name=<name> auto_start=<True|False> bag=<True|False>\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 <config_name>\nobk-activate:\n    Activate all Obelisk nodes.\n    Usage: obk-activate <config_name>\nobk-deactivate:\n    Deactivate all Obelisk nodes.\n    Usage: obk-deactivate <config_name>\nobk-cleanup:\n    Cleanup all Obelisk nodes.\n    Usage: obk-cleanup <config_name>\nobk-shutdown:\n    Shutdown all Obelisk nodes.\n    Usage: obk-shutdown <config_name>\n\nConvenience Commands:\nobk-start:\n    Alias for obk-configure.\n    Usage: obk-start <config_name>\nobk-stop:\n    Alias for obk-deactivate and obk-cleanup.\n    Usage: obk-stop <config_name>\nobk-kill:\n    Alias for obk-shutdown.\n    Usage: obk-kill <config_name>\n\nobk-help:\n    Display this help message.\nIn all the above commands, <config_name> refers to the config field of the config file used for launching obelisk.\033[0m"'
+# <<< obelisk aliases <<<

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
 

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

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:

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: host
@@ -28,6 +29,7 @@ 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
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined
@@ -38,7 +40,7 @@ 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: