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k-okadak-okada
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Merge pull request #1630 from knorth55/common-update-workspace
[jsk_robot_startup] use update_workspace.sh for nightly workspace build in both PR2 and Fetch
2 parents 1acfa89 + 7ada0eb commit 7a33ddb

3 files changed

Lines changed: 154 additions & 41 deletions

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‎jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh‎

Lines changed: 7 additions & 41 deletions
Original file line numberDiff line numberDiff line change
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#!/usr/bin/env bash
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. $HOME/ros/melodic/devel/setup.bash
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# Filename should end with .txt to preview the contents in a web browser
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LOGFILE=$HOME/ros/melodic/update_workspace.txt
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{
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set -x
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# Update workspace
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cd $HOME/ros/melodic/src
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ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
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wstool foreach --git 'git stash'
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wstool update --delete-changed-uris
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WSTOOL_UPDATE_RESULT=$?
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cd $HOME/ros/melodic
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catkin clean aques_talk collada_urdf_jsk_patch -y
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catkin init
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catkin config -DCMAKE_BUILD_TYPE=Release
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catkin build
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CATKIN_BUILD_RESULT=$?
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# Send mail
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MAIL_BODY=""
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if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
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MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
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fi
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if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
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MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
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fi
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set +x
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} > $LOGFILE 2>&1
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if [ -n "$MAIL_BODY" ]; then
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rostopic pub -1 /email jsk_robot_startup/Email "header:
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seq: 0
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stamp: {secs: 0, nsecs: 0}
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frame_id: ''
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subject: 'Daily workspace update fails'
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body: '$MAIL_BODY'
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sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
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receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
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smtp_server: ''
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smtp_port: ''
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attached_files: ['$LOGFILE']"
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fi
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cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
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# jsk_footstep_planner is not released for melodic
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# jsk_footstep_controller is not released for melodic
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# librealsense2 should not be installed from ROS repository
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# realsense-ros should not be installed from ROS repository
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/tmp/update_workspace.sh -r $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO -t fetch -s "jsk_footstep_controller jsk_footstep_planner librealsense2 realsense2_camera realsense2_description"
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rm /tmp/update_workspace.sh

‎jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh‎

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#!/usr/bin/env bash
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cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
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/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 -u
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rm /tmp/update_workspace.sh

‎jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh‎

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#!/usr/bin/env bash
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function usage()
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{
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echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l]
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optional arguments:
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-h show this help
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-w WORKSPACE_PATH specify target workspace
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-r ROSINTALL_PATH rosinstall path
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-t ROBOT robot type
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-s SKIP_KEYS rosdep install skip keys
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-u do not run apt-get upgrade and rosdep install
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-l do not send a mail
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"
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}
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function get_full_path()
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{
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echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
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}
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ROSDEP_INSTALL=true
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SEND_MAIL=true
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WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO)
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while getopts w:r:t:s:ulh OPT
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do
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case $OPT in
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w)
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WORKSPACE=$(get_full_path $OPTARG)
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;;
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r)
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ROSINSTALL=$(get_full_path $OPTARG)
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;;
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t)
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ROBOT_TYPE=$OPTARG
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;;
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s)
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SKIP_KEYS=$OPTARG
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;;
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u)
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ROSDEP_INSTALL=false
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;;
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l)
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SEND_MAIL=false
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;;
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h)
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usage
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exit 1
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;;
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*)
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usage
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exit 1
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;;
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esac
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done
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if [ "$WORKSPACE" = "" ]; then
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echo "Please set valid workspace -w $WORKSPACE"
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exit 1
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fi
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if [ "$ROSINSTALL" = "" ]; then
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echo "Please set valid rosinstall -r $ROSINSTALL"
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exit 1
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fi
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if [ "$ROBOT_TYPE" = "" ]; then
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echo "Please set valid robot type -t $ROBOT_TYPE"
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exit 1
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fi
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. $WORKSPACE/devel/setup.bash
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# Filename should end with .txt to preview the contents in a web browser
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LOGFILE=$WORKSPACE/update_workspace.txt
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TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt
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{
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set -x
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# Update workspace
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wstool foreach -t $WORKSPACE/src --git 'git stash'
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wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
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wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris
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ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall
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wstool update -t $WORKSPACE/src --delete-changed-uris
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# Forcefully checkout specified branch
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wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
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wstool update -t $WORKSPACE/src
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WSTOOL_UPDATE_RESULT=$?
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# Rosdep Install
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if [ "${ROSDEP_INSTALL}" == "true" ]; then
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sudo apt-get update -y;
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rosdep update;
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rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys "$SKIP_KEYS";
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ROSDEP_INSTALL_RESULT=$?;
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else
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ROSDEP_INSTALL_RESULT=0;
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fi
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# Build workspace
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cd $WORKSPACE
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catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
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catkin init
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catkin config -DCMAKE_BUILD_TYPE=Release
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catkin build --continue-on-failure
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CATKIN_BUILD_RESULT=$?
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# Send mail
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echo "" > $TMP_MAIL_BODY_FILE
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if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
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echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE
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fi
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if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
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echo "Please install dependencies manually.\n" >> $TMP_MAIL_BODY_FILE
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fi
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if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
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echo "Please catkin build workspace manually.\n" >> $TMP_MAIL_BODY_FILE
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fi
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set +x
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} 2>&1 | tee $LOGFILE
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# MAIL_BODY variable cannot be set directly in a subshell. So it is set from temporary mail body text file.
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# The mail body text is put as $TMP_MAIL_BODY_FILE.
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# See https://github.com/jsk-ros-pkg/jsk_robot/issues/1569
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MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE)
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echo "MAIL_BODY: $MAIL_BODY"
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if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
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echo "Sent a mail"
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rostopic pub -1 /email jsk_robot_startup/Email "header:
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seq: 0
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stamp: {secs: 0, nsecs: 0}
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frame_id: ''
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subject: 'Daily workspace update fails'
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body:
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- {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0}
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sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
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receiver_address: '$ROBOT_TYPE@jsk.imi.i.u-tokyo.ac.jp'
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smtp_server: ''
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smtp_port: ''
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attached_files: ['$LOGFILE']"
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fi

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