Add utility scripts

[isamu-takagi]

In Autoware, there are commands that are used frequently, so it would be convenient if this was a script. For example, update a workspace. I've seen some people get an error because they forgot one of the following:

git pull
vcs import src < autoware.repos
vcs pull src
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

In addition, colcon build.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

How about adding these to the directory something like tools or utils? And are there any other commands you would like to script?

[maxime-clem]

Let me share the script I use:

#!/bin/bash
CMAKE_ARGS=("-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_EXPORT_COMPILE_COMMANDS=1")
ARGS=("--symlink-install") # --executor sequential")
MAP=$HOME/autoware/maps/planning_simulator_sample_map/
VEHICLE=sample_vehicle SENSOR=sample_sensor_kit
PKG=(grid_map_utils tier4_planning_rviz_plugin)

if [[ $# -gt 1 ]]; then
	PKG=$2
fi

set -x  # print the executed commands
case $1 in
	bag)
		ros2 launch autoware_launch logging_simulator.launch.xml map_path:="$MAP" vehicle_model:="$VEHICLE" sensor_model:="$SENSOR" localization:=false
		;;
	test)
		colcon test --packages-select "$PKG" --event-handlers console_direct+
		;;
	sim)
		ros2 launch autoware_launch planning_simulator.launch.xml map_path:="$MAP" vehicle_model:="$VEHICLE" sensor_model:="$SENSOR" use_sim_time:=true
	;;
	debug)
		colcon build --cmake-args ${CMAKE_ARGS[@]} -DCMAKE_BUILD_TYPE=Debug --packages-select ${PKG[@]} ${ARGS[@]}
	;;
	debug2)
		colcon build --cmake-args ${CMAKE_ARGS[@]} -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-select ${PKG[@]} ${ARGS[@]}
	;;
	clean)
	 	for pkg in "${PKG[@]}"
		do
			rm -rf install/$pkg build/$pkg
		done
	;;
	build)
		ARGS+=("--catkin-skip-building-tests")
		CMAKE_ARGS+=("-DCMAKE_BUILD_TYPE=Release")
		CMD=""
		if [[ $# -gt 1 ]]; then
			CMD="--packages-up-to ${PKG[@]}"
		fi
		colcon build $CMD --cmake-args ${CMAKE_ARGS[@]} ${ARGS[@]}
	;;
	*)
		if [[ $# -gt 0 ]]; then
			PKG=$@
		fi
		colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ${CMAKE_ARGS[@]} --packages-select ${PKG[@]} ${ARGS[@]}
	;;
esac

[kenji-miyake]

For fish shell users, I'd recommend my plugins for better ROS life.

• https://github.com/kenji-miyake/auto-source-setup-bash.fish
• https://github.com/kenji-miyake/colcon-extensions.fish
• https://github.com/kenji-miyake/colcon-abbr.fish
• https://github.com/kenji-miyake/reload.fish
• https://github.com/kenji-miyake/vcd.fish

For example, if you just type cbr (means colcon build release), the colcon-abbr extends it to colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release.
You can customize the options as you like.

[taikitanaka3]

@isamu-takagi
some scripts to debug is in tier4_debug_toiols I would like you to use this
https://github.com/tier4/debug_tools

[isamu-takagi]

Close this discussion as a tools repository will be created.
https://github.com/orgs/autowarefoundation/discussions/4067