feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

2026-08-04 10:19:47 +08:00
parent 5ef38ab508
commit 549d6b337e
141 changed files with 8949 additions and 1594 deletions
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+# Makefile - ROS2 项目构建 / 测试 / 启动聚合命令
+#
+# 设计思想:
+#   - 用 make 聚合所有 colcon / docker / 测试命令
+#   - 跨平台: Linux/macOS 直接 make;Windows 用 WSL 或 Git Bash
+#   - 默认项目: docker compose -p ros2
+#
+# 使用:
+#   make help            # 列出所有命令
+#   make build           # build 镜像
+#   make up              # 启动容器
+#   make down            # 停止容器
+#   make colcon-build    # 容器内 build 所有包
+#   make colcon-test     # 容器内跑所有测试
+#   make launch TOPIC=pubsub
+#   make logs
+#   make shell
+
+# ---------- 配置 ----------
+DOCKER_COMPOSE = docker compose -p ros2 -f docker/docker-compose.yml
+CONTAINER = ros2_dev
+WORKSPACE = /root/ros2_ws
+PACKAGES = py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo \
+           py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds \
+           bringup
+
+# ---------- 颜色 ----------
+GREEN  = \033[0;32m
+YELLOW = \033[1;33m
+RESET  = \033[0m
+
+.DEFAULT_GOAL := help
+
+.PHONY: help
+help: ## 显示所有命令
+	@echo "$(GREEN)ROS2 Learning Suite - Makefile$(RESET)"
+	@echo ""
+	@grep -E '^[a-zA-Z_-]+:.*?## .*$$' $(MAKEFILE_LIST) | awk 'BEGIN {FS = ":.*?## "}; {printf "  $(YELLOW)%-20s$(RESET) %s\n", $$1, $$2}'
+
+# ---------- Docker ----------
+.PHONY: build
+build: ## 构建镜像(首次 5-10min)
+	$(DOCKER_COMPOSE) build
+
+.PHONY: up
+up: ## 启动容器(后台)
+	$(DOCKER_COMPOSE) up -d
+
+.PHONY: down
+down: ## 停止容器
+	$(DOCKER_COMPOSE) down
+
+.PHONY: logs
+logs: ## 查看容器日志
+	$(DOCKER_COMPOSE) logs -f ros2
+
+.PHONY: shell
+shell: ## 进入容器开发终端
+	$(DOCKER_COMPOSE) exec ros2 bash -lc "source $(WORKSPACE)/install/setup.bash && exec bash"
+
+.PHONY: clean
+clean: ## 清理构建产物(build/install/log)
+	$(DOCKER_COMPOSE) exec ros2 bash -lc "cd $(WORKSPACE) && rm -rf build/ install/ log/"
+
+# ---------- colcon ----------
+.PHONY: colcon-build
+colcon-build: ## 容器内 build 所有包
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-select $(PACKAGES)"
+
+.PHONY: colcon-test
+colcon-test: ## 容器内跑所有包的测试
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon test --packages-select $(PACKAGES)"
+
+.PHONY: colcon-build-one
+colcon-build-one: ## build 单包: make colcon-build-one PKG=py_pubsub
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-select $(PKG)"
+
+.PHONY: colcon-test-one
+colcon-test-one: ## 测单包: make colcon-test-one PKG=py_pubsub
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon test --packages-select $(PKG)"
+
+# ---------- Launch (端到端 demo) ----------
+.PHONY: launch
+launch: ## 启动 launch: make launch NAME=pubsub_launch
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source $(WORKSPACE)/install/setup.bash && ros2 launch bringup $(NAME).py"
+
+.PHONY: full-demo
+full-demo: ## 启动 11 节点 full_demo
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source $(WORKSPACE)/install/setup.bash && ros2 launch bringup full_demo_launch.py"
+
+# ---------- venv (本机开发) ----------
+.PHONY: venv-setup
+venv-setup: ## 本机创建 Python venv(不污染系统 Python)
+	powershell -ExecutionPolicy Bypass -File tools/setup_venv.ps1
+
+.PHONY: venv-activate
+venv-activate: ## 提示如何激活 venv
+	@echo "运行: powershell -ExecutionPolicy Bypass -File tools/setup_venv.ps1"
+	@echo "然后: .\\.venv\\Scripts\\Activate.ps1"
+
+# ---------- 维护 ----------
+.PHONY: lint
+lint: ## 容器内跑 ruff + flake8(代码风格)
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && ruff check src/ || true"
+
+.PHONY: format
+format: ## 容器内跑 black(代码格式化)
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && black src/ || true"
+
+.PHONY: status
+status: ## 显示所有节点 / topic / service / action
+	$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "source $(WORKSPACE)/install/setup.bash && ros2 node list && ros2 topic list && ros2 service list && ros2 action list"