#!/usr/bin/env bash
# =============================================================================
# scripts/build.sh —— 在容器内编译所有 ROS2 包
#
# 修复 doc/01-quickstart.md 步骤 4.2 提到但仓库不存在的 `bash build.sh`。
#
# 使用:
#   docker exec ros2_dev bash /root/ros2_ws/scripts/build.sh
#   make colcon-build        (走 docker-compose exec 包装,等价)
# =============================================================================
# 不用 -u:/opt/ros/humble/setup.bash 里有未定义变量,strict 会炸
set -eo pipefail

WORKSPACE="${WORKSPACE:-/root/ros2_ws}"

source /opt/ros/humble/setup.bash
cd "${WORKSPACE}"

colcon build --symlink-install \
  --executor sequential \
  --packages-select \
    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

echo "[build.sh] ✅ Done. Verify with: ls install/"