mirror of
https://github.com/ohmyzsh/ohmyzsh.git
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403 lines
12 KiB
Bash
403 lines
12 KiB
Bash
# ------------------------------------------------------------------------------
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# @brief oh-my-zsh plugin for ROS framework.
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# @author Mickael GERMAIN (https://github.com/migermain)
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# @version 1.0.0
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#
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# This oh-my-zsh plugin attempts to help manage ros ecosystem settings and
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# perform automatic configurations as often as possible.
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# It also supplies prompt integration to give informations about ros state.
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#
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# ------------------------------------------------------------------------------
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[ -z "$_OMZ_ROS_DIR" ] && readonly _OMZ_ROS_DIR="${0:A:h}"
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rosmaster() {
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[ $# -eq 0 ] && echo "$ROS_MASTER_URI" | sed -r 's#http://([^:]+):11311#\1#' \
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&& return 0
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local master_ip_tag='master_ip'
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local masters="$(_omz_ros_config_get_line "$master_ip_tag")"
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local finded=""
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[ $# -eq 2 ] && finded=$(echo "$masters" | grep -o "$2")
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case "$1" in
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list)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
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echo "$masters" | sed -r 's#\s+#\n#g'
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;;
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add)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 add <new_ros_master_ip>" && return 1
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[ "$finded" ] && >&2 echo "Master IP $2 is already registered" && return 3
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_omz_ros_config_add_to_line "$master_ip_tag" "$2"
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;;
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remove)
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[ $# -ne 2 ] && \
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>&2 echo "Usage : $0 remove <ros_registered_master_ip_to_remove>" &&
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return 1
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[ -z "$finded" ] && >&2 echo "Master IP $2 is not registered" && return 3
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_omz_ros_config_remove_from_line "$master_ip_tag" "$2"
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;;
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default)
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local master_ip_default_tag='master_ip_default'
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[ $# -ne 2 ] && >&2 echo "Usage : $0 default <ros_master_ip>" && return 1
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[ ! "$finded" ] && \
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_omz_ros_config_add_to_line "$master_ip_tag" "$2"
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_omz_ros_config_set_line "$master_ip_default_tag" "$2"
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;;
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set)
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if [ $# -eq 3 ]; then
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rosinterface set "$3" && \
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export ROS_MASTER_URI="http://$2:11311" || return "$?"
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elif [ $# -eq 2 ]; then
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export ROS_MASTER_URI="http://$2:11311" || return "$?"
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else
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>&2 echo "Usage : $0 set <ros_master_ip> [<ros_interface>]" && return 1
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fi
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;;
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autoset)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
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local master_ip_default=$(_omz_ros_config_get_line 'master_ip_default')
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[ "$master_ip_default" ] && rosmaster set "$master_ip_default" || \
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return 3
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;;
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help|*)
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>&2 cat <<\EOF
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Usage : rosmaster [<command>] [<args>]
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The rosmaster commands are:
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add Add an URI to the ROS master URI list
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autoset Set the ROS master URI to the default URI
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default Set the default ROS master URI
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help Display help about rosmaster (this page)
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list Display the ROS master URI list
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remove Remove an URI from the ROS master URI list
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set Set the current ROS master URI
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EOF
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;;
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esac
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return 0
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}
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rosinterface() {
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if [ $# -eq 0 ]; then
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[ "$ROS_IP" ] && ifconfig | sed '/./{H;$!d};x;/'"$ROS_IP"'/!d' |
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egrep -o '^[[:alnum:]]+'
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return 0
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fi
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local ros_interface_tag='ros_interface'
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local ros_interfaces="$(_omz_ros_config_get_line "$ros_interface_tag")"
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local finded=""
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[ $# -eq 2 ] && finded=$(echo "$ros_interfaces" | grep -o "$2")
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case "$1" in
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list)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
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echo "$ros_interfaces" | sed -r 's#\s+#\n#g'
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;;
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add)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 add <new_ros_interface>" && return 1
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local exist=$(_omz_ros_interface_get_list | grep -o "$2")
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[ ! "$exist" ] && >&2 echo "Interface $2 does not exist" && return 3
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[ "$finded" ] && >&2 echo "Interface $2 is already registered" && return 3
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_omz_ros_config_add_to_line "$ros_interface_tag" "$2"
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;;
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remove)
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[ $# -ne 2 ] && \
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>&2 echo "Usage : $0 remove <ros_registered_ros_interface_to_remove>" && \
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return 1
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[ ! "$finded" ] && >&2 echo "Interface $2 is not registered" && return 3
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_omz_ros_config_remove_from_line "$ros_interface_tag" "$2"
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;;
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up)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 up <ros_registered_interface>" && \
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return 1
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[ ! "$finded" ] && >&2 echo "Interface $2 is not registered" && return 3
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_omz_ros_config_up "$ros_interface_tag" "$2"
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;;
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down)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 down <ros_registered_interface>" && \
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return 1
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[ ! "$finded" ] && >&2 echo "Interface $2 is not registered" && return 3
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_omz_ros_config_down "$ros_interface_tag" "$2"
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;;
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set)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 set <ros_interface>" && return 1
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local available=$(_omz_ros_interface_get_available | grep -o "$2")
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[ ! "$available" ] && >&2 echo "Interface $2 is not available" && return 3
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export ROS_IP=$(_omz_ros_interface_to_ip "$2")
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;;
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autoset)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
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local ros_interfaces_candidate="$(echo "$ros_interfaces" |
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egrep "$(_omz_ros_interface_get_available | tr ' ' '|')")"
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local ros_interface=""
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for ros_interface in $(echo "$ros_interfaces_candidate"); do
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local ip=$(_omz_ros_interface_to_ip "$ros_interface")
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[ "$ip" ] && export ROS_IP="$ip" && return 0
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done
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return 3
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;;
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*)
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>&2 echo "Usage : $0 <command> [option]" && return 1
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;;
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esac
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return 0
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}
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rosdistro() {
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[ $# -eq 0 ] && echo "$ROS_DISTRO" && return 0
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case "$1" in
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list)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
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_omz_ros_distro_get_list | sed -r 's#\s+#\n#g'
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;;
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default)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 default <ros_distro>" && return 1
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local exist=$(_omz_ros_distro_get_list | grep -o "$2")
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[ ! "$exist" ] && >&2 echo "Distro $2 is not available" && return 3
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_omz_ros_config_set_line 'ros_distro_default' "$2"
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;;
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set)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 set <ros_distro>" && return 1
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local exist=$(_omz_ros_distro_get_list | grep -o "$2")
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[ ! "$exist" ] && >&2 echo "Distro $2 is not available" && return 3
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source "/opt/ros/$2/setup.zsh"
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;;
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autoset)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
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local ros_distro_default=$(_omz_ros_config_get_line 'ros_distro_default')
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[ "$ros_distro_default" ] && rosdistro set "$ros_distro_default" || \
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return 3
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;;
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*)
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>&2 echo "Usage : $0 <command> [option]" && return 1
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;;
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esac
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return 0
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}
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rosworkspace() {
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[ $# -eq 0 ] && echo "$ROS_PACKAGE_PATH" | tr ':' '\n' | grep -v '/opt/ros/' |
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sed 's#/src$##' && return 0
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local ros_workspace_tag='ros_workspace'
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local workspaces="$(_omz_ros_config_get_line "$ros_workspace_tag")"
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local finded=""
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local workspace_candidate=""
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[ $# -eq 2 ] && workspace_candidate="$(readlink -e "$2")" && \
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finded=$(echo "$workspaces" | grep -o "$workspace_candidate")
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case "$1" in
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list)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
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echo "$workspaces" | sed -r 's#\s+#\n#g'
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;;
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add)
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[ $# -ne 2 ] && >&2 echo "Usage : $0 add <new_ros_workspace>" && return 1
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[ ! -f "$workspace_candidate/.catkin_workspace" ] && \
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>&2 echo "Workspace $workspace_candidate does not exist" && return 3
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[ "$finded" ] && \
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>&2 echo "Workspace $workspace_candidate is already registered" && \
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return 3
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_omz_ros_config_add_to_line "$ros_workspace_tag" "$workspace_candidate"
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;;
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remove)
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[ $# -ne 2 ] && \
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echo "Usage : $0 remove <ros_registered_workspace_to_remove>" && \
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return 1
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[ ! "$finded" ] && \
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>&2 echo "Workspace $workspace_candidate is not registered" && return 3
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_omz_ros_config_remove_from_line "$ros_workspace_tag" \
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"$workspace_candidate"
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;;
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default)
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local ros_workspace_default_tag='ros_workspace_default'
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[ $# -ne 2 ] && >&2 echo "Usage : $0 default <ros_workspace>" && return 1
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[ ! -f "$workspace_candidate/.catkin_workspace" ] && \
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>&2 echo "Workspace $workspace_candidate does not exist" && return 3
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[ ! "$finded" ] && rosworkspace add "$workspace_candidate"
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_omz_ros_config_set_line "$ros_workspace_default_tag" \
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"$workspace_candidate"
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;;
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set)
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[ $# -ne 2 ] && \
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>&2 echo "Usage : $0 set <ros_master_ip> <ros_workspace>" && return 1
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[ ! -f "$workspace_candidate/.catkin_workspace" ] && \
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>&2 echo "Workspace $workspace_candidate does not exist" && return 3
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source "$workspace_candidate/devel/setup.zsh" || return "$?"
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;;
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autoset)
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[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
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local ros_workspace_default=$(_omz_ros_config_get_line \
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'ros_workspace_default')
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[ "$ros_workspace_default" ] && \
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rosworkspace set "$ros_workspace_default" || return 3
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;;
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*)
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>&2 echo "Usage : $0 <command> [option]" && return 1
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;;
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esac
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return 0
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}
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_omz_ros_config_init() {
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[ ! -d "$ZSH_CACHE_DIR" ] && mkdir -p "$ZSH_CACHE_DIR" || return "$?"
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if [ ! -f "$ZSH_CACHE_DIR/ros.cache" ]; then
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touch "$ZSH_CACHE_DIR/ros.cache" && \
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rosdistro default "$(_omz_ros_distro_get_list | tail -n 1)" && \
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rosmaster default 'localhost' || return "$?"
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fi
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return 0
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}
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_omz_ros_config_get_line() {
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cat "$ZSH_CACHE_DIR/ros.cache" |
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grep "^\s*$1\s*=" | sed -r 's#^.*=\s*(.*)$#\1#'
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}
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_omz_ros_config_set_line() {
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_omz_ros_config_do "$1" '=.*$' "= $2"
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}
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_omz_ros_config_up() {
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_omz_ros_config_do "$1" "([^\s=]+)\s+$2" "$2 \1"
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}
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_omz_ros_config_down() {
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_omz_ros_config_do "$1" "$2\s+([^\s]*)" "\1 $2"
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}
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_omz_ros_config_add_to_line() {
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_omz_ros_config_do "$1" '\s*$' " $2"
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}
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_omz_ros_config_remove_from_line() {
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_omz_ros_config_do "$1" "\s*$2\s*" ' '
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}
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_omz_ros_config_do() {
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local line_exist="$(cat "$ZSH_CACHE_DIR/ros.cache" | grep "^\s*$1\s*=" )"
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[ ! "$line_exist" ] && echo "$1 =" >> "$ZSH_CACHE_DIR/ros.cache"
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sed -ri "\#^\s*$1\s*=#s#$2#$3#" "$ZSH_CACHE_DIR/ros.cache"
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}
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_omz_ros_workspace_get_list() {
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echo "$ROS_PACKAGE_PATH" | tr ':' '\n' | grep -v '/opt/ros' |
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sed -r 's#/src$##' | paste -sd ' '
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}
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_omz_ros_interface_get_list() {
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ip link show | egrep '^[0-9]+: ' | sed -r 's# ##g' | cut -d ':' -f 2 |
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paste -sd ' '
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}
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_omz_ros_interface_get_available() {
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ifconfig | egrep -o '^[[:alnum:]]+' | paste -sd ' '
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}
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_omz_ros_interface_to_ip() {
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ifconfig | sed '/./{H;$!d};x;/'"$1"'/!d' | egrep -o 'inet addr:[0-9.]+' |
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cut -d ':' -f 2
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}
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_omz_ros_distro_get_list() {
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ls -l '/opt/ros' | grep '^d' | tr -s ' ' | cut --complement -d ' ' -f 1-8 |
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paste -sd ' '
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}
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ros_prompt_info() {
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local ros_status=""
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local master_ip="$(rosmaster)"
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if [ "$master_ip" ]; then
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ros_status+="$ZSH_THEME_ROS_PROMPT_PREFIX%{$fg_no_bold[white]%}"
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LC_ALL=C curl -m 0.1 -s -o /dev/null \
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--request POST "$ROS_MASTER_URI/RPC2" --data "<?xml version='1.0'?>
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<methodCall><methodName>getUri</methodName><params><param><value><string>
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</string></value></param></params></methodCall>"
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case "$?" in
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0)
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# master up and responding
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[ "$(rosparam get use_sim_time 2>&1 | grep 'true')" ] && \
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ros_status+="$ZSH_THEME_ROS_PROMPT_USE_SIM_TIME%{$fg_no_bold[white]%}"
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ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_UP"
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;;
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7)
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# master down and machine responding
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ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_DOWN"
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;;
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6|28)
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# Could not resolve host
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# Connection timeout
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ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_OUT"
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;;
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*)
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# Unexpected
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ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_UNEXPECTED[$?]"
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;;
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esac
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ros_status+="$master_ip%{$fg_no_bold[white]%}"
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ros_status+="$ZSH_THEME_ROS_PROMPT_SUFFIX%{$fg_no_bold[white]%}"
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fi
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echo "$ros_status"
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return 0
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}
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_omz_ros_config_init
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[ ! "$(rosinterface)" ] && rosinterface autoset
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[ ! "$(rosmaster)" ] && rosmaster autoset
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[ ! "$(rosworkspace)" ] && rosworkspace autoset
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[ ! "$(rosdistro)" ] && rosdistro autoset
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# Default values for the appearance of the prompt.
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if [ "$(fc-list | grep 'FontAwesome')" ]; then
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ZSH_THEME_ROS_PROMPT_PREFIX="%{$fg[blue]%} %{$fg_bold[blue]%}("
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ZSH_THEME_ROS_PROMPT_USE_SIM_TIME="%{$fg_bold[yellow]%} "
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else
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ZSH_THEME_ROS_PROMPT_PREFIX="%{$fg_bold[blue]%}ros:("
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ZSH_THEME_ROS_PROMPT_USE_SIM_TIME="%{$fg[yellow]%}⌚ "
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fi
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ZSH_THEME_ROS_PROMPT_SUFFIX="%{$fg_bold[blue]%})"
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ZSH_THEME_ROS_PROMPT_MASTER_UP="%{$fg_bold[green]%}"
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ZSH_THEME_ROS_PROMPT_MASTER_DOWN="%{$fg_bold[red]%}"
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ZSH_THEME_ROS_PROMPT_MASTER_OUT="%{$fg_bold[magenta]%}"
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ZSH_THEME_ROS_PROMPT_MASTER_UNEXPECTED="$ZSH_THEME_ROS_PROMPT_MASTER_OUT"
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