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ycpss91255 merged 1 commit into from
May 26, 2026
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docs(README): replace stale ./build.sh refs with make interface (#117) #118

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61 changes: 32 additions & 29 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ ROS 1/2 bridge container with dual Humble + Jazzy targets — `ros:${ROS2_DISTRO

```bash
ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml # pick a bridge config (gitignored, per-clone). Skip to use the demo fallback.
./build.sh && ./run.sh # default ROS2_DISTRO=humble (set via setup.conf [build] arg_4)
make build && make run # default ROS2_DISTRO=humble (set via setup.conf [build] arg_4)
```

Skipping the `ln -sf` step is fine — the Dockerfile falls back to
Expand Down Expand Up @@ -65,13 +65,13 @@ for the full migration rationale.
ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml

# 1. Build
./build.sh
make build

# 2. Run (requires ROS master running)
./run.sh
make run

# 3. Enter running container
./exec.sh
make exec
```

## Switch ROS 2 distro
Expand All @@ -80,17 +80,17 @@ Default is `humble` (jammy 22.04). To switch to `jazzy` (noble 24.04), update
`setup.conf [build] arg_4` via the CLI:

```bash
./setup.sh set build.arg_4 ROS2_DISTRO=jazzy
./build.sh && ./run.sh
make setup -- set build.arg_4 ROS2_DISTRO=jazzy
make build && make run
```

`set` writes the value into `setup.conf [build] arg_4` (creating the
section / key if absent). `./build.sh` then detects the drift via the
section / key if absent). `make build` then detects the drift via the
`setup.conf` hash baked into `.env`, regenerates `.env` + `compose.yaml`,
and rebuilds. The image tag (`yunchien/ros1_bridge:devel` etc.) is
unchanged across distros — switching rebuilds in place.

For an interactive picker, run `./setup_tui.sh` (dialog / whiptail
For an interactive picker, run `make setup-tui` (dialog / whiptail
frontend) and change `[build] arg_4` there.

CI builds both distros in parallel via the matrix in `.github/workflows/main.yaml`,
Expand All @@ -103,24 +103,24 @@ regardless of what `setup.conf` says.
### Build

```bash
./build.sh # Build devel (default)
./build.sh -t test # Build with smoke tests
./build.sh -t runtime # Build the lean runtime image
make build # Build devel (default)
make build test # Build with smoke tests
make build -- -t runtime # Build the lean runtime image
```

### Run

Two modes, picked by stage target:

```bash
./run.sh # devel: interactive bash shell, bridge NOT running
./run.sh -d # devel detached, join via ./exec.sh
make run # devel: interactive bash shell, bridge NOT running
make run -- -d # devel detached, join via make exec
```

For `runtime` (auto-starts the bridge via the Dockerfile `CMD`):

```bash
./run.sh -t runtime # Start runtime service. Entrypoint sources both
make run -- -t runtime # Start runtime service. Entrypoint sources both
# ROS distros, rosparam loads /bridge.yaml, then
# exec's `ros2 run ros1_bridge parameter_bridge`.
# Requires roscore already running on the host network.
Expand All @@ -129,8 +129,8 @@ For `runtime` (auto-starts the bridge via the Dockerfile `CMD`):
### Enter running container

```bash
./exec.sh
./exec.sh bash
make exec
make exec bash
```

## Bridge Configuration
Expand Down Expand Up @@ -198,27 +198,27 @@ use the same pattern: a **server** terminal that owns `roscore` +

| Demo | Terminal 1 (server) | Terminal 2 (client) |
|------|---------------------|---------------------|
| A — ROS 1 → ROS 2 | `./exec.sh /root/demo/ros1_server.sh` | `./exec.sh /root/demo/ros2_client.sh` |
| B — ROS 2 → ROS 1 | `./exec.sh /root/demo/ros2_server.sh` | `./exec.sh /root/demo/ros1_client.sh` |
| A — ROS 1 → ROS 2 | `make exec -- /root/demo/ros1_server.sh` | `make exec -- /root/demo/ros2_client.sh` |
| B — ROS 2 → ROS 1 | `make exec -- /root/demo/ros2_server.sh` | `make exec -- /root/demo/ros1_client.sh` |

Steps (assuming the container is up via `./run.sh -d`):
Steps (assuming the container is up via `make run -- -d`):

```bash
# Terminal 1 (server) — pick one demo
./exec.sh /root/demo/ros1_server.sh # Demo A
./exec.sh /root/demo/ros2_server.sh # Demo B
make exec -- /root/demo/ros1_server.sh # Demo A
make exec -- /root/demo/ros2_server.sh # Demo B

# Terminal 2 (client) — matching pair
./exec.sh /root/demo/ros2_client.sh # Demo A
./exec.sh /root/demo/ros1_client.sh # Demo B
make exec -- /root/demo/ros2_client.sh # Demo A
make exec -- /root/demo/ros1_client.sh # Demo B
```

Server scripts log every step (`[ros1_server] step N/5: ...`) so it's
clear when `roscore` and `parameter_bridge` are up. Override the
published string with `MESSAGE`:

```bash
./exec.sh env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
make exec -- env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
```

`Ctrl+C` on the server terminal tears down `parameter_bridge` and
Expand Down Expand Up @@ -258,13 +258,16 @@ ros1_bridge/
├── compose.yaml # Docker Compose definition
├── Dockerfile # Multi-stage build (devel + runtime + test); source-builds Noetic + ros1_bridge
├── setup.conf # Repo override; [build] arg_4=ROS2_DISTRO selects humble|jazzy
├── build.sh -> .base/script/docker/build.sh # Symlink
├── run.sh -> .base/script/docker/run.sh # Symlink
├── exec.sh -> .base/script/docker/exec.sh # Symlink
├── stop.sh -> .base/script/docker/stop.sh # Symlink
├── Makefile -> .base/script/docker/Makefile # Symlink
├── Makefile -> .base/script/docker/Makefile # Symlink (canonical entry: make build/run/exec/stop)
├── .base/ # Shared scripts, tests, CI (git subtree; version pinned in .base/.version)
├── script/
│ ├── build.sh -> ../.base/script/docker/build.sh # Wrapper symlinks
│ ├── run.sh -> ../.base/script/docker/run.sh
│ ├── exec.sh -> ../.base/script/docker/exec.sh
│ ├── stop.sh -> ../.base/script/docker/stop.sh
│ ├── setup.sh -> ../.base/script/docker/setup.sh
│ ├── setup_tui.sh -> ../.base/script/docker/setup_tui.sh
│ ├── prune.sh -> ../.base/script/docker/prune.sh
│ ├── entrypoint.sh # Sources ROS 1 + ROS 2, loads bridge config
│ ├── ros_entrypoint.sh # ROS env only (osrf-compatible)
│ ├── ros1_server.sh # Demo A publisher (bootstraps roscore + bridge)
Expand Down
61 changes: 32 additions & 29 deletions doc/README.ja.md
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ ROS 1/2 ブリッジコンテナ、**Humble + Jazzy のデュアルターゲッ

```bash
ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml # ブリッジ設定を選択（gitignored、clone 単位）。スキップしても demo にフォールバック。
./build.sh && ./run.sh # デフォルト ROS2_DISTRO=humble（setup.conf [build] arg_4 で設定）
make build && make run # デフォルト ROS2_DISTRO=humble（setup.conf [build] arg_4 で設定）
```

`ln -sf` ステップをスキップしても問題ありません — Dockerfile が
Expand Down Expand Up @@ -67,13 +67,13 @@ Fast-DDS のメジャーバージョン差 + REP-2011 type-hash 不一致によ
ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml

# 1. ビルド
./build.sh
make build

# 2. 実行（ROS master が起動済みであること）
./run.sh
make run

# 3. 起動中のコンテナに接続
./exec.sh
make exec
```

## ROS 2 distro の切り替え
Expand All @@ -82,17 +82,17 @@ ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
CLI 経由で `setup.conf [build] arg_4` を更新します：

```bash
./setup.sh set build.arg_4 ROS2_DISTRO=jazzy
./build.sh && ./run.sh
make setup -- set build.arg_4 ROS2_DISTRO=jazzy
make build && make run
```

`set` は値を `setup.conf [build] arg_4` に書き込みます（section / key が
無ければ作成）。`./build.sh` は `.env` 内の `setup.conf` hash で変更を
無ければ作成）。`make build` は `.env` 内の `setup.conf` hash で変更を
検知し、`.env` + `compose.yaml` を自動再生成して rebuild します。image
tag（`yunchien/ros1_bridge:devel` 等）は distro を跨いで変わらず、
切り替えはその場で rebuild されます。

対話的に編集する場合は `./setup_tui.sh`（dialog / whiptail フロントエンド）
対話的に編集する場合は `make setup-tui`（dialog / whiptail フロントエンド）
を実行し、TUI で `[build] arg_4` を変更します。

CI は `.github/workflows/main.yaml` の matrix で両 distro を並列 build します。
Expand All @@ -104,24 +104,24 @@ setup.conf の変更はローカル build のみに影響し、`ghcr.io/ycpss912
### ビルド

```bash
./build.sh # devel をビルド（デフォルト）
./build.sh -t test # smoke test 付きビルド
./build.sh -t runtime # 軽量な runtime image をビルド
make build # devel をビルド（デフォルト）
make build test # smoke test 付きビルド
make build -- -t runtime # 軽量な runtime image をビルド
```

### 実行

stage target に応じて 2 モード：

```bash
./run.sh # devel：対話 bash シェル、bridge は自動起動しない
./run.sh -d # devel をバックグラウンド起動、./exec.sh で接続
make run # devel：対話 bash シェル、bridge は自動起動しない
make run -- -d # devel をバックグラウンド起動、make exec で接続
```

`runtime`（Dockerfile `CMD` 経由で bridge 自動起動）：

```bash
./run.sh -t runtime # runtime service を起動。entrypoint が両 ROS を
make run -- -t runtime # runtime service を起動。entrypoint が両 ROS を
# source、rosparam load /bridge.yaml、その後
# `ros2 run ros1_bridge parameter_bridge` を exec
# します。前提：host network 上に roscore が
Expand All @@ -131,8 +131,8 @@ stage target に応じて 2 モード：
### 起動中のコンテナに接続

```bash
./exec.sh
./exec.sh bash
make exec
make exec bash
```

## ブリッジ設定
Expand Down Expand Up @@ -202,19 +202,19 @@ terminal は subscribe するだけです。

| Demo | Terminal 1 (server) | Terminal 2 (client) |
|------|---------------------|---------------------|
| A — ROS 1 → ROS 2 | `./exec.sh /root/demo/ros1_server.sh` | `./exec.sh /root/demo/ros2_client.sh` |
| B — ROS 2 → ROS 1 | `./exec.sh /root/demo/ros2_server.sh` | `./exec.sh /root/demo/ros1_client.sh` |
| A — ROS 1 → ROS 2 | `make exec -- /root/demo/ros1_server.sh` | `make exec -- /root/demo/ros2_client.sh` |
| B — ROS 2 → ROS 1 | `make exec -- /root/demo/ros2_server.sh` | `make exec -- /root/demo/ros1_client.sh` |

実際の手順（コンテナを `./run.sh -d` で起動済みとして）：
実際の手順（コンテナを `make run -- -d` で起動済みとして）：

```bash
# Terminal 1 (server) — どちらかを選択
./exec.sh /root/demo/ros1_server.sh # Demo A
./exec.sh /root/demo/ros2_server.sh # Demo B
make exec -- /root/demo/ros1_server.sh # Demo A
make exec -- /root/demo/ros2_server.sh # Demo B

# Terminal 2 (client) — 対応するもう一方
./exec.sh /root/demo/ros2_client.sh # Demo A
./exec.sh /root/demo/ros1_client.sh # Demo B
make exec -- /root/demo/ros2_client.sh # Demo A
make exec -- /root/demo/ros1_client.sh # Demo B
```

Server スクリプトは各ステップを明示的にログ出力します
Expand All @@ -223,7 +223,7 @@ Server スクリプトは各ステップを明示的にログ出力します
`MESSAGE` 環境変数で上書き可能です：

```bash
./exec.sh env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
make exec -- env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
```

Server terminal で `Ctrl+C` を押すと `parameter_bridge` と `roscore`
Expand Down Expand Up @@ -263,13 +263,16 @@ ros1_bridge/
├── compose.yaml # Docker Compose 定義
├── Dockerfile # マルチステージビルド（devel + runtime + test）；source-builds Noetic + ros1_bridge
├── setup.conf # Repo override；[build] arg_4=ROS2_DISTRO で humble|jazzy を選択
├── build.sh -> .base/script/docker/build.sh # Symlink
├── run.sh -> .base/script/docker/run.sh # Symlink
├── exec.sh -> .base/script/docker/exec.sh # Symlink
├── stop.sh -> .base/script/docker/stop.sh # Symlink
├── Makefile -> .base/script/docker/Makefile # Symlink
├── Makefile -> .base/script/docker/Makefile # Symlink
├── .base/ # 共有スクリプト、テスト、CI（git subtree；バージョンは .base/.version）
├── script/
│ ├── build.sh -> ../.base/script/docker/build.sh # Wrapper symlinks
│ ├── run.sh -> ../.base/script/docker/run.sh
│ ├── exec.sh -> ../.base/script/docker/exec.sh
│ ├── stop.sh -> ../.base/script/docker/stop.sh
│ ├── setup.sh -> ../.base/script/docker/setup.sh
│ ├── setup_tui.sh -> ../.base/script/docker/setup_tui.sh
│ ├── prune.sh -> ../.base/script/docker/prune.sh
│ ├── entrypoint.sh # ROS 1 + ROS 2 を source、bridge 設定を読み込み
│ ├── ros_entrypoint.sh # ROS 環境のみ source（osrf 互換）
│ ├── ros1_server.sh # Demo A publisher（roscore + bridge を自起動）
Expand Down
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