The TUDA Workspace Scripts

The TUDA workspace scripts add convenience scripts to manage a workspace and robots.

Extending

Custom prefix

If you prefer a different prefix instead of tuda_wss, you can set the TUDA_WSS_PREFIX environment variable before sourcing the workspace containing tuda_wss. This makes all tuda_wss commands also available under the alias specified in TUDA_WSS_PREFIX.

Example

export TUDA_WSS_PREFIX=hector
source /path/to/workspace/install/setup.bash
hector status

Add commands

You can add commands either in this repository in the scripts folder or as an overlay in a separate package. Either way scripts have to be put in a scripts directory and three command forms are supported:

• Executable python files, e.g. command.py: The extension is stripped and the python file executed
• Executable bash/sh files, e.g. command.bash: The extension is stripped and the bash script is executed
• Non-executable bash/sh files, e.g. command.bash: The file is sourced and may modify the environment

In each case the additional arguments are forwarded to the command.

Overlay

To create an overlay, create a new package with a scripts folder, create an env-hook-in-file 20.setup.dsv.in with the following content:

prepend-non-duplicate;TUDA_WSS_SCRIPTS;share/@PROJECT_NAME@/scripts

Note

The number should be between 10 and 50 if you want it to be sourced before the command is registered or greater than 50 and smaller than 80 if it should be sourced after.

In your CMakeLists.txt install the folder and file as follows:

if (WIN32)
  message(FATAL_ERROR "Windows is currently not supported! Feel free to add support :)")
else()
  ament_environment_hooks(20.setup.dsv.in)
endif()

install(DIRECTORY scripts DESTINATION share/${PROJECT_NAME} USE_SOURCE_PERMISSIONS)

Commands

All commands support autocompletion and have a --help option listing available options.

Command	Description
build	Build all (or the passed) packages in the workspace. Will automatically build in the workspace root and can be run form anywhere. Use --this to build the packages in the current directory.
cd PACKAGE	Go to the directory of the given package.
clean	Clean all (or the passed) packages.
cross_compile	Cross compiles a package for a given target architecture using the --platform argument.
init	Initializes the current directory as workspace root. Has to be run once per workspace.
status	Prints any changes in the git repositories in the workspace.
test	Builds and runs the tests for all (or the passed) packages.
wtf	Runs some common error checks and fixes in your environment. E.g. if gazebo keeps zombies alive.

Python Library

In your commands, you can use the tuda_workspace_scripts python module which contains a print and a workspace submodule.

config

Provides a workspace configuration mechanism. You can use load_config() to obtain the current config. Variables can be provided using a yaml file (see config.yaml), the files have to be registered using

prepend-non-duplicate;TUDA_WSS_CONFIGS;share/@PROJECT_NAME@/config.yaml

The registered variables can be set using the tuda_wss config command.

print

Provides helpers for printing.

• Colored output using print_color, print_info, print_warn and print_error
• Yes/No confirm questions on terminal with confirm
• Bounded logging: A limited number of status info lines are writen to the output. When line_count is reached old lines are overwritten.

workspace

Command	Description
get_workspace_root	Locate workspace directory. If a path is passed, will search the path upwards to find the workspace root, otherwise fill first use the current path and fall back to automatic detection. Returns None if not workspace root was found.
find_packages_in_directory	Find all packages contained in the given path recursively and returns their names.
find_package_containing	Find the name of the package that contains the given path or None if the path is not in a package.
get_packages_in_workspace	Finds all packages in the given workspace. If no workspace is given, it automatically determines the workspace.
PackageChoicesCompleter	A choices completer for argcomplete offering the packages in a given path for completion.