copy ros.env if for some reason don't exist

snap/hooks/configure

@@ -89,7 +89,7 @@ $SNAP/usr/bin/configure_hook_ros.sh
 
 # restart services with new ROS 2 config
 for service in daemon; do
-  if snapctl services ${SNAP_NAME}.${service} | grep -qw active; then
+  if snapctl services ${SNAP_NAME}.${service} | grep -qw enabled; then
     snapctl restart ${SNAP_NAME}.${service}
     log "Restarted ${SNAP_NAME}.${service}"
   fi

snap/hooks/install

@@ -1,11 +1,7 @@
 #!/bin/bash -e
 
-# Define a function to log messages
-log() {
-  local message="$1"
-  # Log the message with logger
-  logger -t "${SNAP_NAME}" "install hook: $message"
-}
+# Define a function to log and echo messages
+source $SNAP/usr/bin/utils.sh
 
 $SNAP/usr/bin/install_hook_ros.sh
 
@@ -29,7 +25,7 @@ if ! snapctl is-connected raw-usb; then
 fi
 
 # copy params
-cp -r $SNAP/usr/share/husarion-depthai/config/*.yaml ${SNAP_COMMON}/
+cp -r ${SNAP}/usr/share/${SNAP_NAME}/config/*.yaml ${SNAP_COMMON}/
 
 # # # copy meshes to shared folder
 # log "copy meshes to '${SNAP_COMMON}/ros2_ws/'"

snap/local/local-ros/ros.env

@@ -0,0 +1,6 @@
+export ROS_DOMAIN_ID=0
+export ROS_LOCALHOST_ONLY=0
+unset ROS_NAMESPACE
+unset CYCLONEDDS_URI
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+export FASTRTPS_DEFAULT_PROFILES_FILE=/var/snap/rosbot-xl/common/udp.xml

snap/local/local-ros/ros_setup.sh

@@ -1,5 +1,18 @@
 #!/bin/bash -e
 
-source $SNAP_COMMON/ros.env
+source $SNAP/usr/bin/utils.sh
 
-exec $@
+# Path to the ros.env file
+ROS_ENV_FILE="$SNAP_COMMON/ros.env"
+
+# Check if the ros.env file exists
+if [[ ! -f "$ROS_ENV_FILE" ]]; then
+    log "Copying ros.env file to $SNAP_COMMON"
+    cp -r ${SNAP}/usr/share/${SNAP_NAME}/config/ros.env ${SNAP_COMMON}/
+fi
+
+# Source the ros.env file
+source "$ROS_ENV_FILE"
+
+# Execute the passed command
+exec "$@"

snap/snapcraft.yaml

@@ -169,6 +169,7 @@ parts:
     organize:
       '*.sh': usr/bin/
       '*.xml': usr/share/husarion-depthai/config/
+      'ros.env': usr/share/husarion-depthai/config/
 
   local-files:
     plugin: dump