zsh-config/lazy-ros2.zsh

# Lazy-load ros2 stuff

function __zsh_load_ros2 {
    export AMENT_PREFIX_PATH=/opt/ros/humble
    export CMAKE_PREFIX_PATH=/opt/ros/humble
    export COLCON_PREFIX_PATH=/opt/ros/humble
    export ROS_DISTRO=humble
    export ROS_LOCALHOST_ONLY=0
    export ROS_PYTHON_VERSION=3
    export ROS_VERSION=2
    export LD_LIBRARY_PATH="/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib:${LD_LIBRARY_PATH}"
    export PATH="/opt/ros/humble/bin:${PATH}"
    export PKG_CONFIG_PATH="/opt/ros/humble/lib/pkgconfig:${PKG_CONFIG_PATH}"
    export PYTHONPATH="/opt/ros/humble/lib/python3.13/dist-packages/:/opt/ros/humble/lib/python3.13/site-packages:${PYTHONPATH}"
}

(( ${+ZSH_ROS2_ROOT} )) || return

local defined=()

local file
for file in "${ZSH_ROS2_ROOT}/bin/"*; do
    echo Checked $file
    local base="${file:t}"
    hash -- "${base}" 2>/dev/null && continue
    defined+=("${base}")
done

local undef_args=() def
for def in ${defined}; do
    undef_args+=("${(q)def}")
done

local exec
for exec in ${defined}; do
    echo Defined $exec
    eval "
    function \${(q)exec} {
        printf 'Setting up ros2 with \"%s\"...\n\n' \\
            \"\${(q)ZSH_ROS2_ROOT%/}/setup.zsh\"
        unfunction ${undef_args}
        __zsh_load_ros2 ||
            { echo 'Failed to load ros2 libraries!'; return }
        (( \${#} == 0 )) && ${(q)exec} || ${(q)exec} \"\${@}\"
    }"
done

unset exec def file defined undef_args