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ament

ament_environment_hooks

Using to manage the environment variables and more when we source the workspace. Read more and more

  • Set environment variable
  • Run custom script when the workspace is sourced

The setup includes:

  • hook folder
  • dsv.in file
  • sh.in file
  • using ament_environment_hooks in the CMakeLists.txt file

.dsv

dsv (Developer setup variables) file it use to set up the environment variables for the package.

When we source the workspace, the dsv file will be executed and set up the environment variables.

Demo

Setup gazebo environment variables

  • GZ_SIM_RESOURCE_PATH

Steps

  • Add the hooks folder to your package
  • Add the dsv.in file to your package
  • Add the sh.in file to your package
  • Add the ament_environment_hooks to your CMakeLists.txt file
  • Build, Source and check
CMakeLists.txt
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
ros_gz_example_description.dsv.in
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prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share;@CMAKE_INSTALL_PREFIX@/share
ros_gz_example_description.sh.in
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ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/models"
check
  • Build using colcon
  • Source install folder
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echo $GZ_SIM_RESOURCE_PATH