The repository is designed to make ROS developer's life easier. After the installation usefull aliases and functions will be added to the terminal. Everything was tested on Ubuntu 18.04.2 with ROS Melodic & ROS2 Dashing.
Make sure that tmux and python-catkin-tools is installed:
sudo apt install tmux python-catkin-toolsClone the repo into some folder, for example:
git clone https://github.com/yossioo/ROS-Hacks.git ~/.ROS-Hacksor if you like SSH😉:
git clone [email protected]:yossioo/ROS-Hacks.git ~/.ROS-HacksNavigate to the directory and execute the setup.sh script.
cd ~/.ROS-Hacks; bash setup.shThe ~/.inputrc file is saved to ~/.inputrc.bak prior to being overwritten.
Defaults for ROS versions are: Melodic for ROS1, and Dashing for ROS2. Adjust in aliases.sh if needed.
The shortcuts can be run in a new terminal after the installation. Note: re-sourcing ~/.bashrc isn't enough.
Complete list of the shortcuts can be seen in inputrc file.
Few of them are presented below:
| Shortcut | Executed command | Description |
|---|---|---|
| F3 | select_ws |
Displays ROS workspace selection dialog. |
| Shift-F3 | prompt_new_ws |
Displays new ROS workspace creation dialog. |
| F5 | source ~/.bashrc |
You know what it does :) |
| F9 | rebuild_curr_ws |
Re-builds the currently selected workspace and sources it. |
| Shift-F12 | set-quick-command |
Saves currently typed-in command for quick-launch1. |
| F12 | exec-quick-command |
Executes the saved command in detached tmux session. |
| ... | .... | ....... |
1 The function is primarily targeted for quick launching and killing of Gazebo worlds using various roslaunch commands. A quick execution commands are saved for each workspace separately.
Example of usage of Quick Command:
Type in terminal roslaunch gazebo_ros empty_world.launch, hit Shift-F12. The command will be saved for currently sourced workspace. Hit F12 to execute the command in background tmux session. The Gazebo client GUI will show up. Hit Ctrl-F12 to stop the session, killing Gazebo along with all ROS nodes (currently only on ROS1).
Complete list of the aliases can be seen in aliases.sh file.
Few of them are presented below:
| Alias | Expanded command | Description |
|---|---|---|
sc |
source_ws $(cat $WS_FILE) |
Sources the currently selected workspace. |
o |
sudo chown -R $USER:$USER |
Allows easy ownership change for selected files. |
x |
chmod +x |
Adds execution permissions for desired files. |
| ... | .... | ....... |
| Function | Description |
|---|---|
set-quick-command |
Saves the command for further use. |
get-quick-command |
Loads the command. |
print-quick-command |
Displays the command. |
exec-quick-command |
Executes the command in background tmux session. |
kill-tmux-quick-command |
Ends the execution of the tmux session, along with Gazebo and ALL ROS nodes. |
| ... | .... |
A simple UI for ROS workspace creation and selection is defined in several functions.
| Function | Description |
|---|---|
select_ws |
Shows dialog for WS selections |
prompt_new_ws |
Shows dialog for new ROS workspace creation (ROS1/ROS2). |
rebuild_curr_ws |
Rebuilds ROS workspace (ROS1 - catkin/ROS2 - colcon). |
| ... | .... |
| Function | Description |
|---|---|
RM |
Sets ROS_MASTER_URI variable, optionally in local network. |
rt |
Executes rostopic with grep for desired argument. |
fixJB |
Updates JetBrains' shortcuts for CLion and PyCharm to be launched within ROS workspace. |
unROS |
Cleans all ROS-related environment variables. |
| ... | .... |
Clear ~/.bashrc file from the added lines. Delete the repo. Voilà!
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