run.sh

#!/usr/bin/env -S nix develop --command bash

# main routine
main() {
	# build with nix
	cd dev_ws
	echo -e "\e[1mBuilding module with Nix (see result/ for artifacts).\e[0m"
	nixName=$(echo "$1" | tr '_' '-')
	echo "$nixName"
	nix-build -A rosPackages.humble.$nixName
	echo "Done building module with Nix."

	# source manifests
	echo -e "\e[1mAdding all modules to ROS environment.\e[0m"
	dirs=($(
		cd install
		ls -d */ | sed 's:/$::'
	))
	for dir in "${dirs[@]}"; do
		path="install/${dir}/share/${dir}/local_setup.bash"
		if [[ -f $path ]]; then
			source $path
		fi
	done
	echo "Done adding all modules to ROS environment."

	# run module
	echo -e "\e[1mRunning node.\e[0m"
	ros2 run $1 $2
	echo -e "\e[1mDone.\e[0m"
	echo -e "\e[1mTo run nodes in this module from now on, even after updates, you can use \`ros2 run ${1} node.py\`.\e[0m"
	cd ..
}

# show help and exit
if [[ $1 == "-h" || $1 == "--help" ]]; then
	echo -e "\e[1mUsage\e[0m: . ./run.sh module_name node.py [-h]"
	echo -e "\e[1mNote\e[0m: Once you've built a module, you can run nodes within it with \`ros2 run module_name node.py\` instead of using this script."
	echo -e "\e[1mImportant\e[0m: Use a period (.) before the script name so that environment changes occur in your current shell session."
	echo -e "Wrapper around ros2 run that also sources necessary build files and regenerates Nix artifacts (see result/)."
	echo -e "Run from root directory (dev_ws/install/ should be a subdirectory)."
else
	main "$1" "$2"
fi