Add template changes

.cruft.json

@@ -1,6 +1,6 @@
 {
   "template": "https://github.com/UrbanMachine/create-ros-app.git",
-  "commit": "3d4731e5661e8cbac11d71c60c8e925a989c150c",
+  "commit": "93e541631403e2c2c091c65d6583d61bd85a472c",
   "checkout": null,
   "context": {
     "cookiecutter": {

docker-compose.yaml

@@ -38,6 +38,8 @@ services:
       DISPLAY: $DISPLAY
       # Necessary for PulseAudio passthrough
       PULSE_SERVER: "unix:/pulse-socket"
+    # Enable serial passthrough
+    privileged: true
     # Gives the container access to kernel capabilities, useful for most robots
     network_mode: host
     cap_add:

docker/_shared.sh

@@ -71,4 +71,27 @@ function deploy_and_wait {
   done
   echo "Another process brought down the stack." >&2
   return 1
+}
+
+# Shows the user the available launch profiles
+function launch_profiles_helper_msg {
+  echo "Available launch profiles are:" >&2
+   # shellcheck disable=SC2012
+  ls -1 launch-profiles/ | sed 's/^/      - /' >&2
+  echo "" >&2
+  echo "Read more about 'launch-profiles' under 'docs/about_template.md'" >&2
+  exit 1
+}
+
+# Inform the user that the chosen launch profile is invalid if it is not a directory
+function validate_launch_profile {
+  local chosen_profile
+  chosen_profile="$1"
+
+  # Check if the chosen profile is a directory under 'launch-profiles'
+  if [[ ! -d "launch-profiles/${chosen_profile}" ]]; then
+    echo "Error: '${chosen_profile}' is not a valid launch profile." >&2
+    echo "It should be a directory under 'launch-profiles/'." >&2
+    launch_profiles_helper_msg
+  fi
 }

docker/launch

@@ -24,14 +24,11 @@ set -o errexit
 set -o pipefail
 set -o nounset
 
+source docker/_shared.sh
+
 function usage {
   echo "Usage: docker/launch [--no-pull] <launch-profile>" >&2
-  echo "Available launch profiles are:" >&2
-   # shellcheck disable=SC2012
-  ls -1 launch-profiles/ | sed 's/^/      - /' >&2
-  echo "" >&2
-  echo "Read more about 'launch-profiles' under 'docs/about_template.md'" >&2
-  exit 1
+  launch_profiles_helper_msg
 }
 
 function main {
@@ -64,9 +61,7 @@ function main {
     echo "Missing <launch_profile> argument, specify a directory under 'launch-profiles/'" >&2
     usage
   fi
-
-  source docker/_shared.sh
-
+  validate_launch_profile "${launch_profile}"
 
   # To reduce downtime, build the latest images before stopping any existing stacks.
   if [[ "${pull_upstream_images}" = true ]]; then

docker/reload-ros-nodes

@@ -0,0 +1,37 @@
+#!/usr/bin/env bash
+
+# Builds and re-runs the ROS nodes container. This is useful if you want to restart
+# the container over and over, oftentimes when developing on you ROS code.
+# The container is only re-run if the image has changed.
+#
+# Usage:
+#   docker/reload-ros-nodes <launch-profile>
+#
+# Examples:
+#   docker/reload-ros-nodes node_helpers_showcase
+
+set -o errexit
+set -o pipefail
+set -o nounset
+
+source docker/_shared.sh
+
+function main {
+  local launch_profile
+  launch_profile="${1:-}"
+
+  if [[ -z "${launch_profile}" ]]; then
+      echo "Missing <launch_profile> argument, specify a directory under 'launch-profiles/'" >&2
+      echo "Usage: docker/reload-ros-nodes <launch-profile>" >&2
+      launch_profiles_helper_msg
+  fi
+  validate_launch_profile "${launch_profile}"
+
+  build_images  # Build any images that need to be built
+  enable_display_passthrough  # Enable passthrough for the stack
+
+  export LAUNCH_PROFILE="${launch_profile}"
+  docker compose up -d --force-recreate ros-nodes
+}
+
+main "${@}"

docs/about_template.md

@@ -31,6 +31,9 @@ Here's a quick guide on the features of this template
 
   # Enter a currently running ROS container to poke around
   docker/exec
+
+  # Rebuild and restart the ROS nodes in the container, useful for fast development
+  docker/reload-ros-nodes
   ```
 
   More usage examples for the above scripts are documented at the top of the script files.