Merge pull request #112 from Caltech-AMBER/patch-obelisk-build-x-vars

Patch `OBELISK_BUILD_X` vars for local install

obelisk/cpp/zoo/CMakeLists.txt

@@ -24,8 +24,25 @@ add_library(Obelisk::Zoo ALIAS Zoo)
 target_include_directories(Zoo INTERFACE include)
 
 # conditionally add leap subdirectory if OBELISK_BUILD_LEAP is set
-message(STATUS "OBELISK_BUILD_LEAP: ${OBELISK_BUILD_LEAP}")
-if((DEFINED OBELISK_BUILD_LEAP) OR (DEFINED ENV{OBELISK_BUILD_LEAP}))
+# Check if both conditions are met using if
+if(DEFINED OBELISK_BUILD_LEAP AND OBELISK_BUILD_LEAP STREQUAL "true")
+    set(LEAP_VAR_CMAKE TRUE)
+else()
+    set(LEAP_VAR_CMAKE FALSE)
+endif()
+
+# Check the environment variable using if
+if(DEFINED ENV{OBELISK_BUILD_LEAP} AND "$ENV{OBELISK_BUILD_LEAP}" STREQUAL "true")
+    set(LEAP_VAR_ENV TRUE)
+else()
+    set(LEAP_VAR_ENV FALSE)
+endif()
+
+message(STATUS "LEAP_VAR_CMAKE: ${LEAP_VAR_CMAKE}")
+message(STATUS "LEAP_VAR_ENV env variable: ${LEAP_VAR_ENV}")
+message(STATUS "If either variable is true, the Zed interface will be built.")
+
+if(LEAP_VAR_CMAKE OR LEAP_VAR_ENV)
   message(STATUS "Configuring Leap Hand Interface")
   add_subdirectory(hardware/robots/leap)
   target_include_directories(Zoo INTERFACE hardware/robots/leap)
@@ -34,8 +51,25 @@ else()
 endif()
 
 # conditionally add zed subdirectory if OBELISK_BUILD_ZED is set
-message(STATUS "OBELISK_BUILD_ZED: ${OBELISK_BUILD_ZED}")
-if((DEFINED OBELISK_BUILD_ZED) OR (DEFINED ENV{OBELISK_BUILD_ZED}))
+# Check if both conditions are met using if
+if(DEFINED OBELISK_BUILD_ZED AND OBELISK_BUILD_ZED STREQUAL "true")
+    set(ZED_VAR_CMAKE TRUE)
+else()
+    set(ZED_VAR_CMAKE FALSE)
+endif()
+
+# Check the environment variable using if
+if(DEFINED ENV{OBELISK_BUILD_ZED} AND "$ENV{OBELISK_BUILD_ZED}" STREQUAL "true")
+    set(ZED_VAR_ENV TRUE)
+else()
+    set(ZED_VAR_ENV FALSE)
+endif()
+
+message(STATUS "ZED_VAR_CMAKE: ${ZED_VAR_CMAKE}")
+message(STATUS "ZED_VAR_ENV env variable: ${ZED_VAR_ENV}")
+message(STATUS "If either variable is true, the Zed interface will be built.")
+
+if(ZED_VAR_CMAKE OR ZED_VAR_ENV)
   message(STATUS "Configuring Zed2 Sensors")
   add_subdirectory(hardware/sensing/zed)
   target_include_directories(Zoo INTERFACE hardware/sensing/zed)

scripts/_source_bash_rc.bash

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+echo -e "\033[1;32mSourcing .bashrc after updating aliases!\033[0m"
+source ${HOME}/.bashrc

scripts/build_obelisk.sh

@@ -2,6 +2,7 @@
 
 leap=false
 zed=false
+verbose=false
 
 for arg in "$@"; do
     case $arg in
@@ -14,17 +15,20 @@ for arg in "$@"; do
             zed=true
             shift  # Adds ZED ROS packages to colcon build command
             ;;
+        --verbose)
+            verbose=true
+            shift
+            ;;
         *)
             # Unknown option
             echo "Unknown option: $arg"
-            echo "Usage: $0 [--leap] [--zed]"
+            echo "Usage: $0 [--leap] [--zed] [--verbose]"
             exit 1
             ;;
     esac
 done
 
 MESSAGE_PKGS=" obelisk_control_msgs obelisk_estimator_msgs obelisk_sensor_msgs obelisk_std_msgs"
-
 # configuring which packages to skip
 SKIP_PKGS=""
 if [ "$leap" = false ]; then
@@ -33,21 +37,27 @@ fi
 if [ "$zed" = false ]; then
     SKIP_PKGS+=" obelisk_zed_cpp"
 fi
+VERBOSE_STR=""
+if [ "$verbose" = true ]; then
+    VERBOSE_STR="--event-handlers console_direct+"
+fi
 
 # building Obelisk packages
 OBELISK_ROOT=$(dirname $(dirname $(readlink -f ${BASH_SOURCE[0]})))
 
 echo -e "\033[1;32mBuilding Obelisk ROS messages...\033[0m"
 curr_dir=$(pwd)
 cd $OBELISK_ROOT/obelisk_ws
+
 colcon build --symlink-install --parallel-workers $(nproc) \
-    --packages-select $MESSAGE_PKGS
+    $VERBOSE_STR --packages-select $MESSAGE_PKGS
 
 # for debugging, add `--event-handlers console_direct+` to the colcon build command
 echo -e "\033[1;32mBuilding remainder of Obelisk ROS packages...\033[0m"
 source $OBELISK_ROOT/obelisk_ws/install/setup.bash
 colcon build --symlink-install --parallel-workers $(nproc) \
-    --packages-skip $MESSAGE_PKGS $SKIP_PKGS
+    $VERBOSE_STR --packages-skip $MESSAGE_PKGS $SKIP_PKGS
+
 source $OBELISK_ROOT/obelisk_ws/install/setup.bash
 cd $curr_dir
 

scripts/user_setup.sh

@@ -72,10 +72,14 @@ fi'
     if [ "$leap" = true ]; then
         OBELISK_BUILD_OPTIONS+="--leap "
         OBELISK_BUILD_LEAP=true
+    else
+        OBELISK_BUILD_LEAP=false
     fi
     if [ "$zed" = true ]; then
         OBELISK_BUILD_OPTIONS+="--zed "
         OBELISK_BUILD_ZED=true
+    else
+        OBELISK_BUILD_ZED=false
     fi
 
     obk_aliases=$(cat << EOF
@@ -312,3 +316,8 @@ EOF
 else
     echo -e "\033[1;33mObelisk aliases not added to ~/.bash_aliases. To add, pass the --obk-aliases flag.\033[0m"
 fi
+
+# Only source if the file exists. In the docker build this file does not exists and does not need to be run, so we can skip it.
+if test -f ${OBELISK_ROOT}/scripts/_source_bash_rc.bash; then
+    source ${OBELISK_ROOT}/scripts/_source_bash_rc.bash
+fi