Add script for node creation and update templates.

docs/use-cases/ros_packages/setup_new_node.rst

@@ -0,0 +1,30 @@
+==========================================
+Setup ROS 2 node
+==========================================
+.. _uc-setup-ros-node:
+
+This use-case describes how to set up a new ROS 2 node in an existing package using scripts from ROS Team Workspace (RosTeamWS) framework.
+
+  .. note:: currently only C++ nodes and ``ament_cmake`` packages are supported.
+
+
+Script for Setting up a ROS 2 Node
+============================================
+
+``setup-ros-node`` script accepts the file name, and optionally, list of dependencies and class name.
+Dependencies are added to ``package.xml`` and ``CMakeLists.txt`` file.
+
+  .. note:: it is recommended to setup your package using :ref:`setup-new-package <uc-new-package>` script.
+
+  .. warning:: The script **has to be executed** from inside the package where the files should be generated.
+
+The scripts copies template files from the ``templates/nodes`` folder, renames the files, and replaces the placeholders.
+
+.. code-block:: bash
+   :caption: Usage of script for setting up the robot bringup.
+   :name: setup-robot-bringup
+
+   setup-ros-node FILE_NAME [PKG_DEPS] [CLASS_NAME]
+
+
+After the files are successfully generated follow the instruction for test-launch of the node.

scripts/_RosTeamWs_Defines.bash

@@ -164,11 +164,13 @@ function RosTeamWS_setup_ros2_aliases {
 
 # COLCON
   alias cb="colcon_build"
+  alias cccb="colcon_console_cohesion_build"
   alias cbd="colcon_build_debug"
   alias cbr="colcon_build_release"
   alias cbup="colcon_build_up_to"
 
   alias ct="colcon_test"
+  alias cnt="colcon_no_test_build"
   alias ctup="colcon_test_up_to"
 
   alias ctres="colcon_test_results"
@@ -216,25 +218,33 @@ function colcon_helper_ros2_up_to {
 }
 
 function colcon_build {
-  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"  "$*"
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"  "$*"
+}
+
+function colcon_console_cohesion_build {
+  colcon_helper_ros2 "colcon build --symlink-install --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"  "$*"
 }
 
 function colcon_build_up_to {
-  colcon_helper_ros2_up_to "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo" "$*"
+  colcon_helper_ros2_up_to "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" "$*"
 }
 
 function colcon_build_debug {
-  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug" "$*"
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" "$*"
 }
 
 function colcon_build_release {
-  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" "$*"
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" "$*"
 }
 
 function colcon_test {
   colcon_helper_ros2 "colcon test" "$*"
 }
 
+function colcon_no_test_build {
+  colcon_helper_ros2 "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --cmake-args -DBUILD_TESTING=OFF"  "$*"
+}
+
 function colcon_test_up_to {
   colcon_helper_ros2_up_to "colcon test" "$*"
 }
@@ -425,6 +435,7 @@ function set_framework_default_paths {
   RosTeamWS_FRAMEWORK_OS_CONFIGURE_PATH="$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/os_configure"
   # Script-specific variables
   PACKAGE_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/package"
+  NODE_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/nodes"
   ROBOT_DESCRIPTION_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/robot_description"
   ROS2_CONTROL_TEMPLATES="$FRAMEWORK_BASE_PATH/templates/ros2_control"
   ROS2_CONTROL_HW_ITF_TEMPLATES="$ROS2_CONTROL_TEMPLATES/hardware"

scripts/_Team_Defines.bash

@@ -74,6 +74,9 @@ alias setup-robot-bringup=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-robot-bringup.
 
 alias setup-robot-description=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/setup-robot-description.bash
 
+# nodes
+alias setup-ros-node=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/nodes/setup-ros-node.bash
+
 # ros2_control
 alias ros2_control_setup-hardware-interface-package=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/ros2_control/setup-hardware-interface-package.bash
 alias ros2_control_setup-controller-package=$RosTeamWS_FRAMEWORK_SCRIPTS_PATH/ros2_control/setup-controller-package.bash