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