[jsk_robot_startup] use update_workspace.sh for nightly workspace build in both PR2 and Fetch

jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh

@@ -1,43 +1,9 @@
 #!/usr/bin/env bash
 
-. $HOME/ros/melodic/devel/setup.bash
-# Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$HOME/ros/melodic/update_workspace.txt
-
-{
-set -x
-# Update workspace
-cd $HOME/ros/melodic/src
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
-wstool foreach --git 'git stash'
-wstool update --delete-changed-uris
-WSTOOL_UPDATE_RESULT=$?
-cd $HOME/ros/melodic
-catkin clean aques_talk collada_urdf_jsk_patch -y
-catkin init
-catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build
-CATKIN_BUILD_RESULT=$?
-# Send mail
-MAIL_BODY=""
-if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
-fi
-if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
-fi
-set +x
-} > $LOGFILE 2>&1
-if [ -n "$MAIL_BODY" ]; then
-   rostopic pub -1 /email jsk_robot_startup/Email "header:
-  seq: 0
-  stamp: {secs: 0, nsecs: 0}
-  frame_id: ''
-subject: 'Daily workspace update fails'
-body: '$MAIL_BODY'
-sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
-receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
-smtp_server: ''
-smtp_port: ''
-attached_files: ['$LOGFILE']"
-fi
+cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+# jsk_footstep_planner is not released for melodic
+# jsk_footstep_controller is not released for melodic
+# librealsense2 should not be installed from ROS repository
+# realsense-ros should not be installed from ROS repository
+/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"
+rm /tmp/update_workspace.sh

jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 -u
+rm /tmp/update_workspace.sh

jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh

@@ -0,0 +1,142 @@
+#!/usr/bin/env bash
+
+function usage()
+{
+    echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l]
+
+optional arguments:
+    -h                  show this help
+    -w WORKSPACE_PATH   specify target workspace
+    -r ROSINTALL_PATH   rosinstall path
+    -t ROBOT            robot type
+    -s SKIP_KEYS        rosdep install skip keys
+    -u                  do not run apt-get upgrade and rosdep install
+    -l                  do not send a mail
+"
+}
+
+function get_full_path()
+{
+    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
+}
+
+ROSDEP_INSTALL=true
+SEND_MAIL=true
+WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO)
+
+while getopts w:r:t:s:ulh OPT
+do
+    case $OPT in
+        w)
+            WORKSPACE=$(get_full_path $OPTARG)
+            ;;
+        r)
+            ROSINSTALL=$(get_full_path $OPTARG)
+            ;;
+        t)
+            ROBOT_TYPE=$OPTARG
+            ;;
+        s)
+            SKIP_KEYS=$OPTARG
+            ;;
+        u)
+            ROSDEP_INSTALL=false
+            ;;
+        l)
+            SEND_MAIL=false
+            ;;
+        h)
+            usage
+            exit 1
+            ;;
+        *)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+if [ "$WORKSPACE" = "" ]; then
+    echo "Please set valid workspace -w $WORKSPACE"
+    exit 1
+fi
+if [ "$ROSINSTALL" = "" ]; then
+    echo "Please set valid rosinstall -r $ROSINSTALL"
+    exit 1
+fi
+if [ "$ROBOT_TYPE" = "" ]; then
+    echo "Please set valid robot type -t $ROBOT_TYPE"
+    exit 1
+fi
+
+
+. $WORKSPACE/devel/setup.bash
+# Filename should end with .txt to preview the contents in a web browser
+LOGFILE=$WORKSPACE/update_workspace.txt
+
+TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt
+
+{
+set -x
+# Update workspace
+
+wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris
+ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall
+wstool update -t $WORKSPACE/src --delete-changed-uris
+# Forcefully checkout specified branch
+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'
+wstool update -t $WORKSPACE/src
+WSTOOL_UPDATE_RESULT=$?
+# Rosdep Install
+if [ "${ROSDEP_INSTALL}" == "true" ]; then
+  sudo apt-get update -y;
+  rosdep update;
+  rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys "$SKIP_KEYS";
+  ROSDEP_INSTALL_RESULT=$?;
+else
+  ROSDEP_INSTALL_RESULT=0;
+fi
+# Build workspace
+cd $WORKSPACE
+catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
+catkin init
+catkin config -DCMAKE_BUILD_TYPE=Release
+catkin build --continue-on-failure
+CATKIN_BUILD_RESULT=$?
+# Send mail
+echo "" > $TMP_MAIL_BODY_FILE
+if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
+    echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE
+fi
+if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
+    echo "Please install dependencies manually.\n" >> $TMP_MAIL_BODY_FILE
+fi
+if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
+    echo "Please catkin build workspace manually.\n" >> $TMP_MAIL_BODY_FILE
+fi
+set +x
+} 2>&1 | tee $LOGFILE
+
+# MAIL_BODY variable cannot be set directly in a subshell. So it is set from temporary mail body text file.
+# The mail body text is put as $TMP_MAIL_BODY_FILE.
+# See https://github.com/jsk-ros-pkg/jsk_robot/issues/1569
+MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE)
+echo "MAIL_BODY: $MAIL_BODY"
+
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
+    echo "Sent a mail"
+    rostopic pub -1 /email jsk_robot_startup/Email "header:
+  seq: 0
+  stamp: {secs: 0, nsecs: 0}
+  frame_id: ''
+subject: 'Daily workspace update fails'
+body:
+- {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0}
+sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
+receiver_address: '$ROBOT_TYPE@jsk.imi.i.u-tokyo.ac.jp'
+smtp_server: ''
+smtp_port: ''
+attached_files: ['$LOGFILE']"
+fi