Path fixes etc

copier.yml

@@ -11,7 +11,7 @@ PACKAGE_DESCRIPTION:
   multiline: true
 
 MAINTAINER_NAME: No Reply
-MAINTAINER_EMAIL: "{{MAINTAINER_NAME|slugify}}@spirirobotics.com"
+MAINTAINER_EMAIL: "{{MAINTAINER_NAME|lower|replace(' ', '.')}}@spirirobotics.com"
 LICENSE: BSD
 #We use a custom launch script to ensure that rosrun logs to console and have it not accidently launch the master node itself, which can be hard to diagnose
 LANGUAGES:
@@ -22,12 +22,9 @@ LANGUAGES:
         - Python
         - CPP
 
-RUN_COMMAND: rosrun {{PACKAGE_NAME}} {{"main.py" if 'Python' in LANGUAGES elif "CPP" in LANGAUGES "main"}}
+RUN_COMMAND: rosrun {{ PACKAGE_NAME }} {{ "main.py" if 'Python' in LANGUAGES else "main" if "CPP" in LANGUAGES else "yourcommandGoes here" }}
 
 HEALTHCHECK:
   defualt: --start-period=60s --start-interval=1s CMD /ros_entrypoint.sh rostopic list
   type: str
-  help: |
+  help: It's important to have a good health check. This health check just sees if we can talk to the ROS master
-    This health check command should return 0 when your service is running properly.
-    The default healthcheck just checks to see if we can reach the ROS master.
-    Providing a good health check is left as an excersize to the reader.

src/CMakeLists.txt.jinja

@@ -192,7 +192,14 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+{% if "CPP" in LANGUAGES %}
+## Declare a C++ executable
+add_executable(main src/main.cpp)
+target_link_libraries(main ${catkin_LIBRARIES})
+{% endif %}
+
 {%if "Python" in LANGUAGES%}
+#Include a python command
 catkin_install_python(PROGRAMS scripts/main.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

src/Dockerfile.jinja

@@ -1,5 +1,6 @@
 # Stage 1: Build Stage
-FROM git.spirirobotics.com/spiri/services-ros1-core:main AS builder
+FROM git.spirirobotics.com/spiri/services-ros1-core:main AS devenv
+
 
 #We need to make sure to source the ROS environment in our dockerfile
 SHELL ["/bin/bash", "-c"]
@@ -10,19 +11,29 @@ RUN apt-get install --yes python3-rosdep python3-rosinstall python3-rosinstall-g
 
 WORKDIR /root/catkin_ws/src
 
-COPY ./ .
+COPY ./ {{PACKAGE_NAME}}
-
-WORKDIR /root/catkin_ws
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep init"
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep update"
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep install --from-paths src -y"
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make install"
-
-WORKDIR /root/catkin_ws
 
 RUN apt-get clean
 HEALTHCHECK {{HEALTHCHECK}}
 
 # Command to run your application
 CMD {{RUN_COMMAND}} --wait --screen
+
+
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep init"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep update"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep install --from-paths src -y"
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+FROM devenv AS build
+
+
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make install"
+
+
+WORKDIR /root/catkin_ws
+

src/docker-compose.yml.jinja

@@ -4,10 +4,11 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
+      target: devenv
     environment:
       - "ROS_MASTER_URI=http://ros-master:11311"
     volumes:
-      - ./:/root/catkin_ws/src/myproject
+      - ./:/root/catkin_ws/src/{{PROJECT_NAME}}
     command: bash -c "tail -f /dev/null"
     networks:
       - sdk

src/{%if 'CPP' in LANGUAGES%}src{%endif%}/main.cpp

@@ -0,0 +1,85 @@
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+#include <sstream>
+
+/**
+ * This tutorial demonstrates simple sending of messages over the ROS system.
+ */
+int main(int argc, char **argv)
+{
+    /**
+     * The ros::init() function needs to see argc and argv so that it can perform
+     * any ROS arguments and name remapping that were provided at the command line.
+     * For programmatic remappings you can use a different version of init() which takes
+     * remappings directly, but for most command-line programs, passing argc and argv is
+     * the easiest way to do it.  The third argument to init() is the name of the node.
+     *
+     * You must call one of the versions of ros::init() before using any other
+     * part of the ROS system.
+     */
+    ros::init(argc, argv, "talker");
+
+    /**
+     * NodeHandle is the main access point to communications with the ROS system.
+     * The first NodeHandle constructed will fully initialize this node, and the last
+     * NodeHandle destructed will close down the node.
+     */
+    ros::NodeHandle n;
+
+    /**
+     * The advertise() function is how you tell ROS that you want to
+     * publish on a given topic name. This invokes a call to the ROS
+     * master node, which keeps a registry of who is publishing and who
+     * is subscribing. After this advertise() call is made, the master
+     * node will notify anyone who is trying to subscribe to this topic name,
+     * and they will in turn negotiate a peer-to-peer connection with this
+     * node.  advertise() returns a Publisher object which allows you to
+     * publish messages on that topic through a call to publish().  Once
+     * all copies of the returned Publisher object are destroyed, the topic
+     * will be automatically unadvertised.
+     *
+     * The second parameter to advertise() is the size of the message queue
+     * used for publishing messages.  If messages are published more quickly
+     * than we can send them, the number here specifies how many messages to
+     * buffer up before throwing some away.
+     */
+    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+
+    ros::Rate loop_rate(10);
+
+    /**
+     * A count of how many messages we have sent. This is used to create
+     * a unique string for each message.
+     */
+    int count = 0;
+    while (ros::ok())
+    {
+        /**
+         * This is a message object. You stuff it with data, and then publish it.
+         */
+        std_msgs::String msg;
+
+        std::stringstream ss;
+        ss << "hello world " << count;
+        msg.data = ss.str();
+
+        ROS_INFO("%s", msg.data.c_str());
+
+        /**
+         * The publish() function is how you send messages. The parameter
+         * is the message object. The type of this object must agree with the type
+         * given as a template parameter to the advertise<>() call, as was done
+         * in the constructor above.
+         */
+        chatter_pub.publish(msg);
+
+        ros::spinOnce();
+
+        loop_rate.sleep();
+        ++count;
+    }
+
+
+    return 0;
+}