Awesome

🐢 ros-nvim 🐢

ROS in Neovim.

List ROS nodes with live info 🔦 nodelist_compressed List ROS msgs with definitions ✉️ msg_compressed Search current ROS package 🔎 search_package_compressed

Wraps ROS CLI utils (rosnode, rostopic, rosmsg, etc) with Vim and Telescope to bring it right to your favourite editor! 😁

🤩 Features

📦 ROS package wise build and search

Search files with Telescope in the current ROS package
Live grep with Telescope in the current ROS package
Build current ROS package in terminal
Execute current ROS test in terminal

🕵️ Several Telescope extensions for ROS introspection

Nodes list & info
Topics list & info & echo
Services list & info
Msgs list & info
Srvs list & info
Params list & values

🦒 Requirements

Nvim >= 0.5
(recommended) telescope.nvim

🏠 Installation

With your plugin manager of choice:

vim-plug:

Plug 'thibthib18/ros-nvim'

Packer:

use { 'thibthib18/ros-nvim', config=function()
    require 'ros-nvim'.setup({})
  end
}

⚙️ Setup

In Lua:

local vim_utils = require "ros-nvim.vim-utils"
require 'ros-nvim'.setup {
  -- path to your catkin workspace
  catkin_ws_path = "~/catkin_ws",

  -- make program (e.g. "catkin_make" or "catkin build" )
  catkin_program = "catkin_make"

  --method for opening terminal for e.g. catkin_make: `vim_utils.open_new_buffer` or custom function
  open_terminal_method = function()
      require vim-utils.open_split()
  end,

  -- terminal height for build / test, only valid with `open_terminal_method=open_split()`
  terminal_height = 8

  -- Picker mappings
  node_picker_mappings = function(map)
      map("n", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
      map("i", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
  end,
  topic_picker_mappings = function(map)
      local cycle_previewers = function(prompt_bufnr)
          local picker = action_state.get_current_picker(prompt_bufnr)
          picker:cycle_previewers(1)
      end
      map("n", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      map("i", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      -- While browsing topics, press <c-e> to switch between `rostopic info` and `rostopic echo`
      map("n", "<c-e>", cycle_previewers)
      map("i", "<c-e>", cycle_previewers)
  end,
  service_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
  end,
  param_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
  end
}

In Vim, simply enclose it in a lua block:

lua << EOF
local vim_utils = require "ros-nvim.vim-utils"
require 'ros-nvim'.setup {
  -- path to your catkin workspace
  catkin_ws_path = "~/catkin_ws",

  -- make program (e.g. "catkin_make" or "catkin build" )
  catkin_program = "catkin_make"

  --method for opening terminal for e.g. catkin_make: utils.open_new_buffer or custom function
  open_terminal_method = function()
      require vim-utils.open_split()
  end,

  -- terminal height for build / test, only valid with `open_terminal_method=open_split()`
  terminal_height = 8

  -- Picker mappings
  node_picker_mappings = function(map)
      map("n", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
      map("i", "<c-k>", vim_utils.open_terminal_with_format_cmd_entry("rosnode kill %s"))
  end,
  topic_picker_mappings = function(map)
      local cycle_previewers = function(prompt_bufnr)
          local picker = action_state.get_current_picker(prompt_bufnr)
          picker:cycle_previewers(1)
      end
      map("n", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      map("i", "<c-b>", vim_utils.open_terminal_with_format_cmd_entry("rostopic pub %s"))
      map("n", "<c-e>", cycle_previewers)
      map("i", "<c-e>", cycle_previewers)
  end,
  service_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosservice call %s"))
  end,
  param_picker_mappings = function(map)
      map("n", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
      map("i", "<c-e>", vim_utils.open_terminal_with_format_cmd_entry("rosparam set %s"))
  end
}
EOF

⚙️ Config


" Search files in current package
nnoremap <leader>fp <cmd>lua require('ros-nvim.telescope.package').search_package()<cr>
" Live grep in current package
nnoremap <leader>fgp <cmd>lua require('ros-nvim.telescope.package').grep_package()<cr>

" #### ROS Introspection ####
" Topics list & info
nnoremap <leader>rtl <cmd>lua require('ros-nvim.telescope.pickers').topic_picker()<cr>
" Nodes list & info
nnoremap <leader>rnl <cmd>lua require('ros-nvim.telescope.pickers').node_picker()<cr>
" Services list & info
nnoremap <leader>rsl <cmd>lua require('ros-nvim.telescope.pickers').service_picker()<cr>
" Service definitions list & info
nnoremap <leader>rds <cmd>lua require('ros-nvim.telescope.pickers').srv_picker()<cr>
" Message definitions list & info
nnoremap <leader>rdm <cmd>lua require('ros-nvim.telescope.pickers').msg_picker()<cr>
" Params list & values
nnoremap <leader>rpl <cmd>lua require('ros-nvim.telescope.pickers').param_picker()<cr>

" Build entire workspace
nnoremap <leader>bb <cmd>lua require('ros-nvim.build').catkin_make()<cr>
" Build current package
nnoremap <leader>bp <cmd>lua require('ros-nvim.build').catkin_make_pkg()<cr>

" Execute current rostest
nnoremap <leader>rt <cmd>lua require('ros-nvim.test').rostest()<cr>