catkin_setup.bash

#!/bin/bash
set -e

# This script contains functions to add/remove a symlink repo from catkin_ws/src

create_catkin_ws() {
  # Check if workspace exists
  install_catkin_tools
  if [ -e "$CATKIN_DIR/.catkin_workspace" ] || [ -d "$CATKIN_DIR/.catkin_tools" ]; then
    echo "Catkin workspace detected at $CATKIN_DIR"
  else
    echo "Creating catkin workspace in $CATKIN_DIR ..."
    source /opt/ros/$ROS_DISTRO/setup.bash
    mkdir -p "$CATKIN_DIR/src"
    cd "$CATKIN_DIR"
    catkin init >/dev/null
    echo "Catkin workspace created successfully."
  fi
}

install_catkin_tools() {
  # Check if already installed
  if type catkin >/dev/null 2>&1; then
    echo "Catkin tools is already installed"
  else
    echo "Installing catkin tools ..."
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
    wget -qO - http://packages.ros.org/ros.key | sudo apt-key add -
    sudo apt-get -qq update
    sudo apt-get -qq install $PYTHON_VERSION-catkin-tools >/dev/null
    echo "Catkin tools installed successfully."
  fi
}

link_routine() {
  # link repo being installed to catkin_ws
  ln -sfn "$SYMLINKS_REPO_DIR" "$CATKIN_DIR/src"
  echo "Symlink to $SYMLINKS_REPO_DIR created successfully"
}

unlink_routine() {
  # Need to remove just the symlink for the linked repo
  REPO_BASE_NAME=$(basename "$SYMLINKS_REPO_DIR")
  rm -f "$CATKIN_DIR/src/$REPO_BASE_NAME"
  echo "Symlink $CATKIN_DIR/src/$REPO_BASE_NAME removed successfully"
}

catkin_clean() {
  rm -rf "$CATKIN_DIR/devel"
  rm -rf "$CATKIN_DIR/build"
  rm -rf "$CATKIN_DIR/install"
  rm -rf "$CATKIN_DIR/logs"
  rm -f "$CATKIN_DIR/.catkin_workspace"
  echo "Catkin workspace cleaned"
}

compile() {
  cd "$CATKIN_DIR"
  source /opt/ros/$ROS_DISTRO/setup.bash
  if [ -z "$CONTINUOUS_INTEGRATION" ]; then
    catkin build -j$NUM_PROCESSORS
  else
    if [ -n "$CIRCLECI" ]; then
      # Build libwave by itself first, since the job is so large
      catkin build --no-status -j2 libwave
      catkin build --no-status --mem-limit 6G
    else
      catkin build --no-status
    fi
  fi
}