update ros2 wrapper build

nervosys · Mar 7, 2024 · beba3c4 · beba3c4
1 parent 8a30a77
commit beba3c4
Show file tree

Hide file tree

Showing 4 changed files with 19 additions and 8 deletions.
diff --git a/.github/workflows/test_linux.yml b/.github/workflows/test_linux.yml
@@ -48,8 +48,4 @@ jobs:
       - name: "Build ROS2 Wrapper"
         # if: ${{ matrix.os == 'ubuntu-20.04' }}
         shell: bash
-        run: |
-          bash ./scripts/install_ros2_deps.sh
-          source /opt/ros/*/setup.bash
-          cd ./ros2
-          colcon build --cmake-args -DCMAKE_C_COMPILER=gcc-11 --cmake-args -DCMAKE_CXX_COMPILER=g++-11
+        run: bash ./scripts/build_ros2.sh
diff --git a/docs/ros_pkgs.md b/docs/ros_pkgs.md
@@ -50,7 +50,7 @@ catkin build;  # or catkin_make
 If your default `gcc` version is less than 8 (see `gcc --version` output), compilation will fail. In that case, use `gcc-11` explicitly as follows:
 
 ```shell
-catkin build -DCMAKE_C_COMPILER=gcc-11 -DCMAKE_CXX_COMPILER=g++-11
+catkin build -DCMAKE_C_COMPILER=/usr/bin/gcc-11 -DCMAKE_CXX_COMPILER=/usr/bin/g++-11
 ```
 
 ## Running `autonomysim_ros_pkgs`

diff --git a/docs/ros_pkgs_tutorial.md b/docs/ros_pkgs_tutorial.md
@@ -17,7 +17,7 @@ catkin build autonomysim_tutorial_pkgs
 If your default `gcc` is less than or equal to version 8 (see `gcc --version` output), compilation will fail. In that case, use `gcc-11` explicitly as follows:
 
 ```shell
-catkin build autonomysim_tutorial_pkgs -DCMAKE_C_COMPILER=gcc-11 -DCMAKE_CXX_COMPILER=g++-11
+catkin build autonomysim_tutorial_pkgs -DCMAKE_C_COMPILER=/usr/bin/gcc-11 -DCMAKE_CXX_COMPILER=/usr/bin/g++-11
 ```
 
 !!! note

diff --git a/scripts/install_ros2_deps.sh → scripts/build_ros2.sh b/scripts/install_ros2_deps.sh → scripts/build_ros2.sh
@@ -13,6 +13,7 @@ set -x
 
 # DISTRO="$(lsb_release -sc)"
 ARCH="$(dpkg --print-architecture)"
+GCC_VERSION='11'
 source /etc/os-release  # UBUNTU_CODENAME
 
 ###
@@ -50,7 +51,21 @@ sudo apt-get install -y "ros-${ROS_DISTRO}-vision-opencv" "ros-${ROS_DISTRO}-ima
 sudo apt-get install -y "ros-${ROS_DISTRO}-tf2-sensor-msgs" "ros-${ROS_DISTRO}-tf2-geometry-msgs" "ros-${ROS_DISTRO}-mavros*"
 sudo apt-get install -y python3-pip python3-yaml python3-setuptools python3-colcon-common-extensions
 
+echo 'Adding ROS2 initialization to BASH RC file...'
 echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
 source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
-echo 'Success: ROS2 dependencies installed.'
+echo '-------------------------------------------------------------------------------'
+echo 'Success: AutonomySim ROS2 wrapper dependencies installed.'
+echo '-------------------------------------------------------------------------------'
+echo ''
+echo 'Building AutonomySim ROS2 Wrapper...'
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+pushd ./ros2
+colcon build --cmake-args "-DCMAKE_C_COMPILER=/usr/bin/gcc-${GCC_VERSION}" --cmake-args "-DCMAKE_CXX_COMPILER=/usr/bin/g++-${GCC_VERSION}"
+popd
+
+echo '-------------------------------------------------------------------------------'
+echo 'Success: AutonomySim ROS2 wrapper built.'
+echo '-------------------------------------------------------------------------------'