🐢 ros-nvim 🐢

ROS in Neovim.

List ROS nodes with live info 🔦 List ROS msgs with definitions ✉️ Search current ROS package 🔎

Wraps ROS CLI utils (rosnode, rostopic, rosmsg, etc) with Vim and Telescope to bring it right to your favourite editor! 😁

🤩 Features

📦 ROS package wise build and search

• Search files with Telescope in the current ROS package
• Live grep with Telescope in the current ROS package
• Build current ROS package in terminal
• Execute current ROS test in terminal

🕵️ Several Telescope extensions for ROS introspection

• Nodes list & info
• Topics list & info & echo
• Services list & info
• Msgs list & info
• Srvs list & info
• Params list & values

🦒 Requirements

• Nvim >= 0.5
• (recommended) telescope.nvim

🏠 Installation

With your plugin manager of choice:

vim-plug:

Plug 'thibthib18/ros-nvim'

Packer:

use { 'thibthib18/ros-nvim', config=function()
    require 'ros-nvim'.setup({})
  end
}

⚙️ Setup

In Lua:

local vim_utils = require "ros-nvim.vim-utils"
require 'ros-nvim'.setup {
  -- path to your catkin workspace
  catkin_ws_path = "~/catkin_ws",

  -- make program (e.g. "catkin_make" or "catkin build" )
  catkin_program = "catkin_make"

  --method for opening terminal for e.g. catkin_make: `vim_utils.open_new_buffer` or custom function
  open_terminal_method = function()
      require vim-utils.open_split()
  end,

  -- terminal height for build / test, only valid with `open_terminal_method=open_split()`
  terminal_height = 8

  -- Picker mappings
  node_picker_mappings = function(map)
      map("n", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
      map("i", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
  end,
  topic_picker_mappings = function(map)
      local cycle_previewers = function(prompt_bufnr)
          local picker = action_state.get_current_picker(prompt_bufnr)
          picker:cycle_previewers(1)
      end
      map("n", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      map("i", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      -- While browsing topics, press <c-e> to switch between `rostopic info` and `rostopic echo`
      map("n", "<c-e>", cycle_previewers)
      map("i", "<c-e>", cycle_previewers)
  end,
  service_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
  end,
  param_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
  end
}

In Vim, simply enclose it in a lua block:

lua << EOF
local vim_utils = require "ros-nvim.vim-utils"
require 'ros-nvim'.setup {
  -- path to your catkin workspace
  catkin_ws_path = "~/catkin_ws",

  -- make program (e.g. "catkin_make" or "catkin build" )
  catkin_program = "catkin_make"

  --method for opening terminal for e.g. catkin_make: utils.open_new_buffer or custom function
  open_terminal_method = function()
      require vim-utils.open_split()
  end,

  -- terminal height for build / test, only valid with `open_terminal_method=open_split()`
  terminal_height = 8

  -- Picker mappings
  node_picker_mappings = function(map)
      map("n", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
      map("i", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
  end,
  topic_picker_mappings = function(map)
      local cycle_previewers = function(prompt_bufnr)
          local picker = action_state.get_current_picker(prompt_bufnr)
          picker:cycle_previewers(1)
      end
      map("n", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      map("i", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      map("n", "<c-e>", cycle_previewers)
      map("i", "<c-e>", cycle_previewers)
  end,
  service_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
  end,
  param_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
  end
}
EOF

⚙️ Config

" Search files in current package
nnoremap <leader>fp <cmd>lua require('ros-nvim.telescope.package').search_package()<cr>
" Live grep in current package
nnoremap <leader>fgp <cmd>lua require('ros-nvim.telescope.package').grep_package()<cr>

" #### ROS Introspection ####
" Topics list & info
nnoremap <leader>rtl <cmd>lua require('ros-nvim.telescope.pickers').topic_picker()<cr>
" Nodes list & info
nnoremap <leader>rnl <cmd>lua require('ros-nvim.telescope.pickers').node_picker()<cr>
" Services list & info
nnoremap <leader>rsl <cmd>lua require('ros-nvim.telescope.pickers').service_picker()<cr>
" Service definitions list & info
nnoremap <leader>rds <cmd>lua require('ros-nvim.telescope.pickers').srv_picker()<cr>
" Message definitions list & info
nnoremap <leader>rdm <cmd>lua require('ros-nvim.telescope.pickers').msg_picker()<cr>
" Params list & values
nnoremap <leader>rpl <cmd>lua require('ros-nvim.telescope.pickers').param_picker()<cr>

" Build entire workspace
nnoremap <leader>bb <cmd>lua require('ros-nvim.build').catkin_make()<cr>
" Build current package
nnoremap <leader>bp <cmd>lua require('ros-nvim.build').catkin_make_pkg()<cr>

" Execute current rostest
nnoremap <leader>rt <cmd>lua require('ros-nvim.test').rostest()<cr>