build.sh

#!/bin/bash

set -e

# Define variables
DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
LOCAL_WORKSPACE=$(pwd)
SHELL="/bin/bash"
# shellcheck disable=SC2089
XTERM_CONFIG="-bg black -fg white -fa 'Monospace' -fs 11"

# Define packages
SIM_PACKAGES="canadarm_description canadarm_gazebo"
CONTROL_PACKAGE="canadarm_moveit_config canadarm_demo"
DEMO_PACKAGES="$CONTROL_PACKAGE"
AVAIABLE_DEMOS="control-demo"

####################################################################################################
# High-level functions
####################################################################################################
# Help function to describe each target
help() {
    echo "CanadArm2 Bash Script"
    echo "  ./build.sh list                 - List all available demos"
    echo "  ./build.sh build                - Build all the demo components. This will include all supported demos and the Docker image"
    echo "  ./build.sh clean                - Clean the local workspace"
    echo "  ./build.sh build control-demo   - Build the control demo"
    echo "  ./build.sh run control-demo     - Build and run the CanadArm2 demo"
    exit 0
}

# Build all
build() {
    build-control-demo
}

# Clean the local workspace
clean() {
    rm -rf "$LOCAL_WORKSPACE"/install "$LOCAL_WORKSPACE"/log "$LOCAL_WORKSPACE"/build
}

check_docker() {
    if ! command -v docker &>/dev/null; then
        echo "Docker is not installed. Please install Docker to continue."
        exit 1
    fi
}

check_xterm() {
    if ! command -v xterm &>/dev/null; then
        echo "xterm is not installed. Please install xterm to continue."
        echo "On Ubuntu, you can install xterm with 'sudo apt install xterm'."
        exit 1
    fi
}

check_ros2() {
    if ! command -v ros2 &>/dev/null; then
        echo "ROS 2 is not installed. Please install ROS 2 to continue."
        exit 1
    fi
}

####################################################################################################
# Low-level functions
####################################################################################################
# Build the Docker image
build-docker() {
    docker build -t "$DOCKER_IMAGE" .
}

# Run the CanadArm Gazebo simulation locally
run-gazebo() {
    # shellcheck disable=SC2090
    # shellcheck disable=SC2086
    xterm $XTERM_CONFIG -T 'CanadArm2 Gazebo' -e "source /opt/ros/\${ROS_DISTRO}/setup.bash \
        && source $LOCAL_WORKSPACE/install/setup.bash \
        && ros2 launch canadarm_gazebo canadarm.launch.py" &
}

# Build the Gazebo workspace locally
build-gazebo() {
    # shellcheck source=/opt/ros/${ROS_DISTRO}/setup.bash
    # shellcheck disable=SC1091
    source /opt/ros/"${ROS_DISTRO}"/setup.bash &&
        rosdep install --from-paths . -r -y --skip-keys "$DEMO_PACKAGES" &&
        colcon build --symlink-install --base-paths "$LOCAL_WORKSPACE" --install-base "$LOCAL_WORKSPACE"/install \
            --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
            --packages-select $SIM_PACKAGES
}

####################################################################################################
# Control demo
####################################################################################################
build-control-demo() {
    build-docker
    build-gazebo
}

run-control-demo() {
    # shellcheck disable=SC2090
    # shellcheck disable=SC2086
    xterm $XTERM_CONFIG -T 'CanadArm2 Demo' -e "docker run -it --rm \
        -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
        $DOCKER_IMAGE \
        bash -c 'source ~/.bashrc && ros2 launch canadarm_demo canadarm.launch.py'" &
}

####################################################################################################
# Main script logic to call the appropriate function
####################################################################################################
case "$1" in
help)
    help
    ;;
list)
    echo "Available demos:"
    for demo in $AVAIABLE_DEMOS; do
        echo " -  $demo"
    done
    echo "Available subcommands:"
    echo " -  build, clean, run"
    exit 0
    ;;
clean)
    clean
    ;;
build)
    check_ros2
    check_docker
    case "$2" in
    control-demo)
        build-control-demo
        ;;
    *)
        build
        ;;
    esac
    ;;
run)
    check_xterm
    check_ros2
    check_docker

    run-gazebo
    case "$2" in
    control-demo)
        run-control-demo
        ;;
    *)
        echo "Invalid target. 'run" "$2" "' is not a valid demo. Try './build.sh list' to see available demos."
        exit 1
        ;;
    esac
    ;;
*)
    echo "Invalid target. Use './build.sh help' to see available subcommands."
    exit 1
    ;;
esac