RTW Aliases

Standard RTW Aliases

Standard RTW aliases are configured out-of-the-box and they enable you to use the same command independently of the workspace you are in and help you hide colcon complexities and minimize errors when interacting with it. The aliases set for each workspace (see ṁanaging multiple workspaces) setup environment variables so that following aliases can interact with that specific workspace.

Explanation of Standard Aliases

The standard aliases are callable from any folder as long as a workspace is sourced using _<workspace_name> alias.

Note

To make this reading short, Dr. Denis’ favorite aliases are cb, ca and crm - simply start with using those.

Entering Workspace Folders

rosd

Enter the root directory of the ROS workspace. Alias for command: cd $ROS_WS

rosds

Enter src directory of the ROS workspace. Alias for command: cd $ROS_WS/src

rosdb

Enter build directory of the ROS workspace. Alias for command: cd $ROS_WS/build

rosdi

Enter install directory of the ROS workspace. Alias for command: cd $ROS_WS/install

Installling dependencies

rosdepi

Installing dependencies for the packages in $ROS_WS/src folder. Makes the rosdep command shorter and simpler to use: rosdep install -y -i --from-paths \$ROS_WS/src

Building Packages in Workspace

Every alias has optional package names. If none is provided the whole workspace is built.

cb [package1_name, package2_name]

Building named packages or the whole workspace. Alias for command: colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo.

cbup [package1_name, package2_name]

Building all packages up to the named packages (build all dependencies). Alias for command: colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to.

cbd [package1_name, package2_name]

Building named packages or the whole workspace as Debug build type. Alias for command: colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug.

cbr [package1_name, package2_name]

Building named packages or the whole workspace as Release build type. Alias for command: colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release.

Executing Package Tests

Every alias has optional package names. If none is provided the whole workspace is built.

ct [package1_name, package2_name]

Testing named packages or the whole workspace. Alias for command: colcon test.

ctup [package_name]

Testing named packages up to the named package (build all dependencies). Alias for command: colcon test --packages-up-to.

ctres [package_name]

Get test results for the whole workspace or a package. If using package, the output will be grep-processed to filter-out the package you are looking for. Alias for command: colcon test-result --all

Executing Multiple Commands

Every alias has optional package names. If none is provided the whole workspace is built.

ca [package1_name, package2_name]

Build, test and show test results for the named packages or the whole workspace.

caup [package_name]

Build, test and show test results for the package and all its dependencies.

Cleaning Workspace

crm [package1_name, package2_name]

Remove build, log and install folders for the workspace or corresponding sub-folders for specific packages.

Defining Your Own Aliases

TBD

Idea: sharing aliases with your team that are very specific for your use-cases.