\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "
'
alias TUTfoxyR2='
source /op">
## ROS ##
LOCAL_IP=`hostname -I | cut -d' ' -f1`
alias noetic='
source /opt/ros/noetic/setup.bash;
export ROS_WORKSPACE=${HOME}/catkin_ws;
export ROS_PACKAGE_PATH=${ROS_WORKSPACE}/:$ROS_PACKAGE_PATH;
export ROS_IP=f11.local;
export ROS_MASTER_URI=http://localhost:11311;
source ~/catkin_ws/devel/setup.bash;
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[01;31m\\]<noetic>\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
alias foxy='
source /opt/ros/foxy/setup.bash;
export ROS_WORKSPACE=${HOME}/ros2_ws;
source ${ROS_WORKSPACE}/install/local_setup.bash;
export ROS_DOMAIN_ID=7;
#export ROS_LOCALHOST_ONLY=1;
export TURTLEBOT3_MODEL=burger;
export RCUTILS_COLORIZED_OUTPUT=1
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[01;33m\\]<foxy>\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
alias TUTfoxyR2='
source /opt/ros/foxy/setup.bash;
export ROS_WORKSPACE=${HOME}/Torobo2022_R2_ros2_ws;
source ${ROS_WORKSPACE}/install/local_setup.bash;
export ROS_DOMAIN_ID=0;
#export ROS_LOCALHOST_ONLY=1;
export RCUTILS_COLORIZED_OUTPUT=1
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[01;33m\\]<TUTfoxy>\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
alias TUTfoxyERv1='
source /opt/ros/foxy/setup.bash;
export ROS_WORKSPACE=${HOME}/ABU2023_ER_ros2_ws_v1;
source ${ROS_WORKSPACE}/install/local_setup.bash;
export ROS_DOMAIN_ID=20;
#export ROS_LOCALHOST_ONLY=1;
export RCUTILS_COLORIZED_OUTPUT=1
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[01;33m\\]<TUTfoxyERv1>\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
alias TUTfoxyERv2='
source /opt/ros/foxy/setup.bash;
export ROS_WORKSPACE=${HOME}/ABU2023_ER_ros2_ws_v2;
source ${ROS_WORKSPACE}/install/local_setup.bash;
export ROS_DOMAIN_ID=20;
#export ROS_LOCALHOST_ONLY=1;
export RCUTILS_COLORIZED_OUTPUT=1
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[01;33m\\]<TUTfoxyERv2>\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
function ros_src() {
if [[ $ROS_DISTRO == "noetic" ]]; then
cd $ROS_WORKSPACE/src;
elif [[ $ROS_DISTRO == "foxy" ]]; then
cd $ROS_WORKSPACE/src;
else
echo "set ros distribution";
fi
}
function ros_work() {
if [[ $ROS_DISTRO == "noetic" ]]; then
cd $ROS_WORKSPACE;
elif [[ $ROS_DISTRO == "foxy" ]]; then
cd $ROS_WORKSPACE;
else
echo "set ros distribution";
fi
}
function ros_make() {
dir=$PWD;
cd $ROS_WORKSPACE;
if [[ $ROS_DISTRO == "noetic" ]]; then
catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release;
#. devel/setup.zsh;
. devel/setup.bash;
elif [[ $ROS_DISTRO == "foxy" ]]; then
if [ $# -gt 0 ]; then
colcon build --packages-select $1 --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release;
else
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release;
fi;
# . install/local_setup.zsh;
source install/setup.bash
else
echo "set ros distribution";
fi;
cd $dir;
}
function ros_make_clean() {
dir=$PWD;
cd $ROS_WORKSPACE;
if [[ $ROS_DISTRO == "noetic" ]]; then
catkin_make clean
catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release;
#. devel/setup.zsh;
. devel/setup.bash;
elif [[ $ROS_DISTRO == "foxy" ]]; then
if [ $# -gt 0 ]; then
colcon build --packages-select $1 --symlink-install --cmake-clean-cache;
else
colcon build --symlink-install --cmake-clean-cache;
fi;
# . install/local_setup.zsh;
source install/setup.bash
else
echo "set ros distribution";
fi;
cd $dir;
}
Ubuntu22.04(ROS2 humble)
#ROS2
#common
source /usr/share/gazebo/setup.sh
source /opt/ros/humble/setup.bash;
#workspase setup
alias TUThumbleERv2='
export ros_env_name="TUThumbleERv2"
export ROS_WORKSPACE=${HOME}/ABU2023_ER_ros2_ws_v2;
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[0;34m\\]<"$ros_env_name">\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
alias TUThumbleERv3='
export ros_env_name="TUThumbleERv3"
export ROS_WORKSPACE=${HOME}/ABU2023_ER_ros2_ws_v3;
export PS1="\\[\\e]0;\\u@\\h: \\w\\a\\]${debian_chroot:+($debian_chroot)}\\[\\033[01;32m\\]\\u@\\h\\[\\033[00m\\]\\[\\033[0;34m\\]<"$ros_env_name">\\[\\033[00m\\]:\\[\\033[01;34m\\]\\w\\[\\033[00m\\]\\$ "
'
#cd
function ros_src() {
cd $ROS_WORKSPACE/src;
}
function ros_ws() {
cd $ROS_WORKSPACE;
}
#build
function ros_make() {
dir=$PWD;
cd $ROS_WORKSPACE;
if [ $# -gt 0 ]; then
colcon build --packages-select $1 --symlink-install --cmake-args -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release;
else
colcon build --symlink-install --cmake-args -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release;
fi;
source install/setup.bash
cd $dir;
}
function ros_make_clean() {
dir=$PWD;
cd $ROS_WORKSPACE;
if [ $# -gt 0 ]; then
colcon build --packages-select $1 --symlink-install --cmake-clean-cache --cmake-args -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release;
else
colcon build --symlink-install --cmake-clean-cache --cmake-args -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release;
fi;
source install/setup.bash
cd $dir;
}
function ros_domain() {
if [ $# -gt 0 ]; then
export ROS_DOMAIN_ID=$1;
else
echo 'ROS_DOMAIN_ID='$ROS_DOMAIN_ID;
fi;
}
#default workspace
TUThumbleERv3
#common
source ${ROS_WORKSPACE}/install/local_setup.bash;
export ROS_DOMAIN_ID=20;
#export ROS_LOCALHOST_ONLY=1;
export RCUTILS_COLORIZED_OUTPUT=1
source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=~/
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH