Now supporting skipping compilation and rosdep checks (#26)

README.md

@@ -36,6 +36,7 @@ or
 * [For versions >= `v1.2.3`] The installer script now checks if the user is in the docker group, and if not adds them and prompts for reboot at the end of the installation.
 * [For versions >= `v1.3.0`] A ROS Melodic version is now available (with the `rosezm` command) and a much more robust locking mechanism is now in effect. If you experienced frequent lockouts or race conditions, this version should be more stable.
 * [For versions >= `v1.4.0`] All supported ROS versions (melodic/noetic/humble) now work on a completely persistent filesystem to save apt, library and other installations + all other user-defined changes on the container. Additionally, this version also supports audio, enabling users to play sounds through the `rosez` containers.
+* [For versions >= `v1.5.0`] The `sc` or `skip-compilation` flag is now supported, which completely bypasses rosdep and catkin/colcon builds for faster startup.
 
 ## Tested platforms
 * EndeavourOS

internal/entrypoint.bash

@@ -1,5 +1,6 @@
 #!/bin/bash
 lock_file=$LOCKFILE
+skip_compilation=$SKIPCOMPILATION
 rosversion="unknown"
 lockation=""
 wstxt="ros2_ws.txt"
@@ -30,24 +31,28 @@ if [ "$rosversion" != "unknown" ]; then
     while read -r line; do
         bl="$(basename $line)"
         cd /opt/ros/$bl
-        # Check if -r is better here instead of -i (rosdep check/install -r)
-        # I think I should just add both (-ir)
-        if rosdep check -ir --from-path src --rosdistro $rosversion -y | grep -q 'System dependencies have not been satisfied'; then
-            intermediate_error_handler $?
-            output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "sudo apt update" | tee /dev/fd/2)
+        if [ $skip_compilation -ne 1 ]; then
+            if rosdep check -ir --from-path src --rosdistro $rosversion -y | grep -q 'System dependencies have not been satisfied'; then
+                intermediate_error_handler $?
+                output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "sudo apt update" | tee /dev/fd/2)
 
+                intermediate_error_handler $?
+            fi
+            output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "rosdep install -ir --from-path src --rosdistro $rosversion -y" | tee /dev/fd/2)
             intermediate_error_handler $?
         fi
-        output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "rosdep install -ir --from-path src --rosdistro $rosversion -y" | tee /dev/fd/2)
-        intermediate_error_handler $?
         if [ "$rosversion" == "humble" ]; then
-            output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo" | tee /dev/fd/2)
-            intermediate_error_handler $?
+            if [ $skip_compilation -ne 1 ]; then
+                output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo" | tee /dev/fd/2)
+                intermediate_error_handler $?
+            fi
             . /opt/ros/$bl/install/setup.bash
             intermediate_error_handler $?
         else
-            output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "catkin_make" | tee /dev/fd/2)
-            intermediate_error_handler $?
+            if [ $skip_compilation -ne 1 ]; then
+                output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "catkin_make" | tee /dev/fd/2)
+                intermediate_error_handler $?
+            fi
             . /opt/ros/$bl/devel/setup.bash
             intermediate_error_handler $?
         fi

internal/rosez_exec.bash

@@ -10,15 +10,16 @@ uptime_date="$(uptime -s | sed "s/[: ]/_/g")"
 # This should enable the "a reboot should fix it" behaviour
 earliest_possible_lock_file="$lock_prefix$uptime_date$lock_suffix"
 lock_file="$lock_prefix$now$lock_suffix"
-known_params=("force-integrated" "clear-locks")
-known_params_short=("fi" "cl")
+known_params=("force-integrated" "clear-locks" "skip-compilation")
+known_params_short=("fi" "cl" "sc")
 rosws_file="ros2_ws.txt"
 rosez_vol="ros2ez-volume"
 ros="humble"
 ros_image="ros2_ez"
 gpu_string=$(lspci | grep VGA)
 gpu_param=""
 clear_locks=0
+skip_compilation=0
 lockdir=""
 if [ "$1" == "1" ]; then
     rosws_file="ros_ws.txt"
@@ -55,6 +56,9 @@ for i in "${!known_params[@]}"; do
     elif [ "${known_params[1]}" == "$1" ] || [ "${known_params_short[1]}" == "$1" ]; then
         clear_locks=1
         shift
+    elif [ "${known_params[2]}" == "$1" ] || [ "${known_params_short[2]}" == "$1" ]; then
+        skip_compilation=1
+        shift
     else
         break
     fi
@@ -126,7 +130,7 @@ intermediate_error_handler $?
 /bin/bash -c "xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $xauthf nmerge -"
 intermediate_error_handler $?
 cl=""
-extras="env $ENV LOCKFILE=$lock_file /bin/bash"
+extras="env $ENV LOCKFILE=$lock_file SKIPCOMPILATION=$skip_compilation /bin/bash"
 if [ $# -gt 0 ]; then
     extras=$extras" -c \"source /home/rosez_user/.bashrc && $* \""
 fi