Add better templating for tasks

Signed-off-by: Florian Vahl <[email protected]>

Author: Flova

.vscode/settings.json

@@ -329,4 +329,7 @@
         "log": true,
         ".pixi": true,
     },
+    "[toml]": {
+        "editor.defaultFormatter": "tamasfe.even-better-toml"
+    },
 }

pixi.lock

@@ -12,12 +12,27 @@ preview = ["pixi-build"]
 version = "0.1.0"
 
 [tasks]
-build = "colcon build --symlink-install --cmake-args -G Ninja"
-clean = "rm -rf build install log"
-test = "colcon test --event-handlers console_direct+ --return-code-on-test-failure"
+# Deploys the current environment
+deploy = "scripts/deploy_robots.py"
+# Runs code formatting and linting
 _format = "pre-commit run --all-files"
 format = [{ task = "_format", environment = "format" }]
-deploy = "scripts/deploy_robots.py"
+
+# Builds all ROS 2 packages or a specific one if given
+[tasks.build]
+cmd = "colcon build --symlink-install --cmake-args -G Ninja {{ '--packages-select ' + package if package }}"
+args = [{ arg = "package", default = "" }]
+
+# Cleans all build and install files or those of a specific package if given
+[tasks.clean]
+cmd = "rm -rf build/{{ package }} install/{{ package }} {{ 'log' if not package }}"
+args = [{ arg = "package", default = "" }]
+
+# Runs tests for all ROS 2 packages or a specific one if given
+[tasks.test]
+cmd = "colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ '--packages-select ' + package if package }}"
+args = [{ arg = "package", default = "" }]
+
 
 [dependencies]
 # Base dependencies
@@ -95,6 +110,7 @@ ros-jazzy-generate-parameter-library = ">=0.5.0,<0.6"
 ros-jazzy-geometry-msgs = ">=5.3.6,<6"
 ros-jazzy-hardware-interface = ">=4.37.0,<5"
 ros-jazzy-image-proc = ">=5.0.11,<6"
+ros-jazzy-image-publisher = ">=5.0.11,<6"
 ros-jazzy-image-transport = ">=5.1.7,<6"
 ros-jazzy-joint-state-publisher = ">=2.4.0,<3"
 ros-jazzy-joint-state-publisher-gui = ">=2.4.0,<3"