Support specifying the ROS setup script

package.json

@@ -112,6 +112,15 @@
                 "ros.distro": {
                     "type": "string",
                     "description": "ROS installation distro to be sourced."
+                },
+                "ros.rosSetupScript": {
+                    "type": "string",
+                    "description": "ROS workspace setup script. Overrides ros.distro."
+                },
+                "ros.isolateEnvironment": {
+                    "type": "bool",
+                    "default": false,
+                    "description": "Specify if the extension should not capture the environment VSCode is running in to pass to child processes."
                 }
             }
         },

src/debugger/configuration/resolvers/ros2/launch.ts

@@ -77,6 +77,9 @@ export class LaunchResolver implements vscode.DebugConfigurationProvider {
             },
         };
 
+        console.log("Executing dumper with the following environment:");
+        console.log(rosExecOptions.env);
+
         let ros2_launch_dumper = getExtensionFilePath(path.join("assets", "scripts", "ros2_launch_dumper.py"));
 
         let args = []
@@ -91,10 +94,14 @@ export class LaunchResolver implements vscode.DebugConfigurationProvider {
             `/usr/bin/env python3 ${ros2_launch_dumper} "${config.target}" ${flatten_args}`;
 
         let result = await promisifiedExec(ros2_launch_dumper_cmdLine, rosExecOptions);
+
         if (result.stderr) {
-            throw (new Error(`Error from ROS2 launch dumper:\r\n ${result.stderr}`));
-        } else if (result.stdout.length == 0) {
-            throw (new Error(`ROS2 launch dumper unexpectedly produced no output.`));
+            // Having stderr output is not nessesarily a problem, but it is useful for debugging
+            console.log(`ROS2 launch processor produced stderr output:\r\n ${result.stderr}`);
+        }        
+
+        if (result.stdout.length == 0) {
+            throw (new Error(`ROS2 launch processor was unable to produce a node list.\r\n ${result.stderr}`));
         }
 
         let commands = result.stdout.split(os.EOL);

src/extension.ts

@@ -276,50 +276,79 @@ async function sourceRosAndWorkspace(): Promise<void> {
 
     const kWorkspaceConfigTimeout = 30000; // ms
 
-    const config = vscode_utils.getExtensionConfiguration();
-    let distro = config.get("distro", "");
     let setupScriptExt: string;
     if (process.platform === "win32") {
         setupScriptExt = ".bat";
     } else {
         setupScriptExt = ".bash";
     }
 
-    // Is there a distro defined either by setting or environment?
-    if (!distro && !process.env.ROS_DISTRO)
-    {
-        // No? Try to find one.
-        const installedDistros = await ros_utils.getDistros();
-        if (!installedDistros.length) {
-            throw new Error("ROS has not been found on this system.");
-        } else if (installedDistros.length === 1) {
-            // if there is only one distro installed, directly choose it
-            config.update("distro", installedDistros[0]);
-        } else {
-            const message = "Multiple ROS distros found. Configure this workspace by setting \"ros.distro\": \"<ROS Distro>\" in settings.json or in the ROS extension settings.";
-            await vscode.window.setStatusBarMessage(message, kWorkspaceConfigTimeout);
+    const config = vscode_utils.getExtensionConfiguration();
+    let isolateEnvironment = config.get("isolateEnvironment", "");
+    if (!isolateEnvironment) {
+        // Capture the host environment unless specifically isolated
+        env = process.env;
+    }
+
+
+    let rosSetupScript = config.get("rosSetupScript", "");
+
+    // If the workspace setup script is not set, try to find the ROS setup script in the environment
+    let attemptWorkspaceDiscovery = true;
+
+    if (rosSetupScript) {
+        // Try to support cases where the setup script doesn't make sense on different environments, such as host vs container.
+        if (await pfs.exists(rosSetupScript)){
+            try {
+                env = await ros_utils.sourceSetupFile(rosSetupScript, env);
+
+                attemptWorkspaceDiscovery = false;
+            } catch (err) {
+                vscode.window.showErrorMessage(`A workspace setup script was provided in the configuration, but could not source "${rosSetupScript}". Attempting standard discovery.`);
+            }
         }
     }
+
+    if (attemptWorkspaceDiscovery) {
+        let distro = config.get("distro", "");
 
-    if (distro) {
-        try {
-            let globalInstallPath: string;
-            if (process.platform === "win32") {
-                globalInstallPath = path.join("C:", "opt", "ros", `${distro}`, "x64");
+        // Is there a distro defined either by setting or environment?
+        if (!distro && !process.env.ROS_DISTRO)
+        {
+            // No? Try to find one.
+            const installedDistros = await ros_utils.getDistros();
+            if (!installedDistros.length) {
+                throw new Error("ROS has not been found on this system.");
+            } else if (installedDistros.length === 1) {
+                // if there is only one distro installed, directly choose it
+                config.update("distro", installedDistros[0]);
             } else {
-                globalInstallPath = path.join("/", "opt", "ros", `${distro}`);
+                const message = "Unable to determine ROS distribution, please configure this workspace by adding \"ros.distro\": \"<ROS Distro>\" in settings.json";
+                await vscode.window.setStatusBarMessage(message, kWorkspaceConfigTimeout);
             }
-            let setupScript: string = path.format({
-                dir: globalInstallPath,
-                name: "setup",
-                ext: setupScriptExt,
-            });
-            env = await ros_utils.sourceSetupFile(setupScript, {});
-        } catch (err) {
-            vscode.window.showErrorMessage(`Could not source the setup file for ROS distro "${distro}".`);
         }
-    } else if (process.env.ROS_DISTRO) {
-        env = process.env;
+
+        if (distro) {
+            let setupScript: string;
+            try {
+                let globalInstallPath: string;
+                if (process.platform === "win32") {
+                    globalInstallPath = path.join("C:", "opt", "ros", `${distro}`, "x64");
+                } else {
+                    globalInstallPath = path.join("/", "opt", "ros", `${distro}`);
+                }
+                setupScript = path.format({
+                    dir: globalInstallPath,
+                    name: "setup",
+                    ext: setupScriptExt,
+                });
+                env = await ros_utils.sourceSetupFile(setupScript, env);
+            } catch (err) {
+                vscode.window.showErrorMessage(`Could not source ROS setup script at "${setupScript}".`);
+            }
+        } else if (process.env.ROS_DISTRO) {
+            env = process.env;
+        }
     }
     // Source the workspace setup over the top.
     // TODO: we should test what's the build tool (catkin vs colcon).

src/ros/utils.ts

@@ -20,6 +20,7 @@ export function sourceSetupFile(filename: string, env?: any): Promise<any> {
         }
         else {
             exportEnvCommand = `bash -c "source '${filename}' && env"`;
+            console.log ("executing " + exportEnvCommand);
         }
 
         let processOptions: child_process.ExecOptions = {
@@ -34,7 +35,7 @@ export function sourceSetupFile(filename: string, env?: any): Promise<any> {
                     if (index !== -1) {
                         env[line.substr(0, index)] = line.substr(index + 1);
                     }
-
+                    
                     return env;
                 }, {}));
             } else {