Merge branch 'master' into roswww-static-target

builder/image-ros.sh

@@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
+sudo -E -u pi sh -c '. /opt/ros/${ROS_DISTRO}/setup.sh && catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo'
 source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"

builder/test/tests.sh

@@ -75,3 +75,8 @@ fi
 
 # validate examples are present
 [[ $(ls $H/examples/*) ]]
+
+# validate web tools present
+[ -d $H/.ros/www ]
+[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
+[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]

clover/CMakeLists.txt

@@ -230,6 +230,9 @@ target_link_libraries(${PROJECT_NAME}
   ${OpenCV_LIBRARIES}
 )
 
+# Set Clover to default www page
+set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME})
+
 #############
 ## Install ##
 #############

clover/launch/clover.launch

@@ -84,9 +84,4 @@
         <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
         <param name="use_fake_gcs" value="false"/>
     </node>
-
-    <!-- Update static directory -->
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
-        <param name="default_package" value="clover"/>
-    </node>
 </launch>

clover/www/index.html

@@ -12,6 +12,10 @@
 	<li><a href="console.html">Clover console</a> (<code>/var/log/clover.log</code>)</li>
 </ul>
 
+<p>
+	Update www using <code>rosrun roswww_static update</code>.
+</p>
+
 <div class="version"></div>
 
 <script type="text/javascript">

roswww_static/CMakeLists.txt

@@ -5,8 +5,19 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
+macro(roswww_static_make_default)
+  message(STATUS "roswww_static: make ${PROJECT_NAME} package default")
+  set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME} CACHE STRING "Default roswww_static package")
+endmacro()
+
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
-catkin_install_python(PROGRAMS main.py
+catkin_install_python(PROGRAMS src/update
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+message(status "CATKIN_ENV: ${CATKIN_ENV}")
+
+add_custom_target(roswww_static ALL
+    COMMAND ${CMAKE_COMMAND} -E env ROSWWW_STATIC_DEFAULT=${ROSWWW_STATIC_DEFAULT}
+    ${CATKIN_ENV} ${CMAKE_CURRENT_SOURCE_DIR}/src/update)

roswww_static/README.md

@@ -6,12 +6,12 @@ Note: you should configure your web server to make it follow symlinks.
 
 ## Instructions
 
-* Run `main.py` node and it will generate the symlinks and index file.
+* Run `update` script and it will generate the symlinks and index file: `rosrun roswww_static update`.
 * Point your static web server path to `~/.ros/www`.
 
-You can rerun `main.py` if the list of installed packages changes.
+You can rerun `update` if the list of installed packages changes.
 
 ## Parameters
 
-* `index` – path for index page, otherwise packages list would be generated.
-* `default_package` – if set then the index page would redirect to this package's page.
+* `index` – path for index page, otherwise packages list would be generated.
+* `default_package` – if set then the index page would redirect to this package's page.

roswww_static/launch/example.launch

@@ -1,5 +1,5 @@
 <launch>
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
+    <node pkg="roswww_static" name="roswww_static" type="update" clear_params="true" output="screen">
         <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
         <!-- <param name="default_package" value="my_package"/> -->
     </node>

roswww_static/src/update

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright (C) 2020 Copter Express Technologies
 #
@@ -16,13 +16,16 @@ import shutil
 import rospy
 import rospkg
 
-rospy.init_node('roswww_static')
+#rospy.init_node('roswww_static')
 
 rospack = rospkg.RosPack()
 
 www = rospkg.get_ros_home() + '/www'
-index_file = rospy.get_param('~index_file', None)
-default_package = rospy.get_param('~default_package', None)
+index_file = None # rospy.get_param('~index_file', None)
+default_package = os.environ.get('ROSWWW_STATIC_DEFAULT') # rospy.get_param('~default_package', None)
+
+print('roswww_static: destination directory:', www)
+print('roswww_static: default package:', default_package)
 
 shutil.rmtree(www, ignore_errors=True)  # reset www directory content
 os.mkdir(www)
@@ -34,7 +37,7 @@ index = '<h1>Packages list</h1>\n<ul>\n'
 for name in packages:
     path = rospack.get_path(name)
     if os.path.exists(path + '/www'):
-        rospy.loginfo('found www path for %s package', name)
+        print('roswww_static: found www path for package', name)
         os.symlink(path + '/www', www + '/' + name)
         index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)
 
@@ -42,7 +45,7 @@ if default_package is not None:
     redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
     open(www + '/index.html', 'w').write(redirect_html)
 elif index_file is not None:
-    rospy.loginfo('symlinking index file')
+    print('roswww_static: symlinking index file')
     os.symlink(index_file, www + '/index.html')
 else:
     open(www + '/index.html', 'w').write(index)