Improve insall and minor fixes

src/nanosaur/main.py

@@ -130,11 +130,15 @@ def info(platform, params: Params, args):
 
 
 def install(platform, params: Params, args):
+    # Initialize the robot configuration if it doesn't exist
+    first_install = 'robots' not in params
+    if first_install and not wizard(platform, params, args):
+        return False
     # Questions to ask the user
     questions = [
         inquirer.List(
             'choice',
-            message="What would you like to install?",
+            message="Select the type of installation to perform",
             choices=[key for key, value in NANOSAUR_INSTALL_OPTIONS_RULES.items() if value['show']],
             ignore=lambda answers: args.name is not None,
         ),
@@ -154,20 +158,18 @@ def install(platform, params: Params, args):
     if answers['confirm'] is False:
         print(TerminalFormatter.color_text("Installation cancelled", color='red'))
         return False
+
     # Get the selected install type
     print(TerminalFormatter.color_text(f"Installing {install_type} workspace...", bold=True))
     if not NANOSAUR_INSTALL_OPTIONS_RULES[install_type]['function'](platform, params, args):
         return False
-    # Initialize the robot configuration if it doesn't exist
-    if 'robots' not in params:
-        wizard(platform, params, args)
     # Set params in maintainer mode
     current_mode = params.get('mode')
     if (
-        current_mode not in NANOSAUR_INSTALL_OPTIONS_RULES
-        or install_type not in NANOSAUR_INSTALL_OPTIONS_RULES[current_mode]
+        install_type not in NANOSAUR_INSTALL_OPTIONS_RULES[current_mode]['rule']
     ):
         params['mode'] = install_type
+    print(TerminalFormatter.color_text(f"Installation of {install_type} workspace complete", color='green'))
     return True
 
 
@@ -230,7 +232,7 @@ def main():
     parser_info.set_defaults(func=info)
 
     # Subcommand: install (hidden if workspace already exists)
-    if 'mode' not in params:
+    if 'mode' not in params or params['mode'] not in ['maintainer']:
         parser_install = subparsers.add_parser('install', help=f"Install nanosaur on your {device_type}")
     else:
         parser_install = subparsers.add_parser('install')

src/nanosaur/robot.py

@@ -118,10 +118,7 @@ def wizard(platform, params: Params, args):
     robot = Robot()
     robot.simulation = device_type == 'desktop'
     RobotList.add_robot(params, robot, save=False)
-    # Run the robot configuration wizard
-    for func in functions_list:
-        if not func(platform, params, args):
-            return False
+    return all(func(platform, params, args) for func in functions_list)
 
 
 def robot_set_name(platform, params: Params, args):

src/nanosaur/simulation.py

@@ -126,7 +126,7 @@ def simulation_info(platform, params: Params, verbose):
     print(TerminalFormatter.color_text("Simulation:", bold=True))
     if 'simulation_tool' in params:
         isaac_sim_version = ""
-        if 'isaac_sim_path' in params and params['simulation_tool'] == 'isaac-sim':
+        if 'isaac_sim_path' in params and params['simulation_tool'] == 'isaac-sim' and params['isaac_sim_path']:
             isaac_sim_version = params['isaac_sim_path'].split("isaac-sim-")[-1]  # Extract version after "isaac-sim-"
         text_message = f"{TerminalFormatter.color_text('   selected:', bold=True)} {params['simulation_tool']} {isaac_sim_version}"
         print(text_message)
@@ -283,9 +283,6 @@ def simulation_set(platform, params: Params, args):
         simulation_tools.pop('gazebo', None)
     # Find all installed Isaac Sim versions
     isaac_sim_list = find_all_isaac_sim()
-    # Remove Isaac Sim from the list if no versions are found
-    if not isaac_sim_list:
-        simulation_tools.pop('isaac-sim', None)
     # Get the version of Isaac Sim if it is already set
     version = None
     if 'isaac_sim_path' in params:
@@ -304,7 +301,7 @@ def simulation_set(platform, params: Params, args):
         ),
         inquirer.List(
             'isaac-sim',
-            message="Select Isaac Sim version",
+            message="Select Isaac Sim version for run on host",
             choices=list(isaac_sim_list.keys()),
             default=version,
             ignore=lambda answers: answers['simulation_tool'] != 'Isaac-sim' or not isaac_sim_list

src/nanosaur/utilities.py

@@ -376,7 +376,7 @@ def get_nanosaur_docker_user(params: Params) -> str:
 
 def get_nanosaur_raw_github_url(params: Params) -> str:
     nanosaur_github_url = params.get('nanosaur_github', NANOSAUR_MAIN_GITHUB_URL)
-    nanosaur_branch = params.get('nanosaur_branch', NANOSAUR_MAIN_BRANCH)
+    nanosaur_branch = params['nanosaur_branch']
     # Replace 'github.com' with 'raw.githubusercontent.com' in the URL
     nanosaur_github_url = nanosaur_github_url.replace('www.github.com', 'raw.githubusercontent.com')
     nanosaur_github_url = nanosaur_github_url.replace('github.com', 'raw.githubusercontent.com')
@@ -412,7 +412,7 @@ def download_file(url, folder_path, file_name, force=False) -> str:
 
     # Check if the file already exists
     if not force and os.path.exists(file_path):
-        print(TerminalFormatter.color_text(f"File '{file_name}' already exists in '{folder_path}'. Skip download", color='yellow'))
+        logger.debug(TerminalFormatter.color_text(f"File '{file_name}' already exists in '{folder_path}'. Skip download", color='yellow'))
         return file_path  # Cancel download
 
     # Send a request to download the file
@@ -423,10 +423,10 @@ def download_file(url, folder_path, file_name, force=False) -> str:
         file_path = os.path.join(folder_path, file_name)
         with open(file_path, 'wb') as file:
             file.write(response.content)
-        print(TerminalFormatter.color_text(f"File '{file_name}' downloaded successfully to '{folder_path}'.", color='green'))
+        logger.debug(TerminalFormatter.color_text(f"File '{file_name}' downloaded successfully to '{folder_path}'.", color='green'))
         return file_path
     else:
-        print(TerminalFormatter.color_text(f"Failed to download file. Status code: {response.status_code}", color='red'))
+        logger.debug(TerminalFormatter.color_text(f"Failed to download file. Status code: {response.status_code}", color='red'))
         return None
 
 

src/nanosaur/workspace.py

@@ -93,7 +93,8 @@ def workspaces_info(params: utilities.Params, verbose: bool):
     def ros_info(params):
         # Print ROS 2 installation path
         ros2_path = ros.get_ros2_path(ROS_DISTRO)
-        ros2_string = TerminalFormatter.color_text(f"ROS 2 {ROS_DISTRO.capitalize()} path:", bold=True)
+        ros2_version_color = TerminalFormatter.color_text(ROS_DISTRO.capitalize(), color='blue', bold=True)
+        ros2_string = TerminalFormatter.color_text(f"ROS 2 {ros2_version_color}:", bold=True)
         print(f"{ros2_string} {TerminalFormatter.clickable_link(ros2_path)}")
         # Print Isaac ROS installation path
         isaac_ros_version = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
@@ -245,7 +246,7 @@ def update_workspace(params, workspace_type, workspace_name_key, force, skip_ros
     }
     if args.all:
         print(TerminalFormatter.color_text("Updating isaac_ros_common repository", bold=True))
-        isaac_ros_branch = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
+        isaac_ros_branch = params['isaac_ros_branch']
         ros.manage_isaac_ros_common_repo(nanosaur_home_path, isaac_ros_branch, args.force)
         print(TerminalFormatter.color_text("Updating all workspaces", bold=True))
         update_shared_workspace(args.force)
@@ -258,7 +259,7 @@ def update_workspace(params, workspace_type, workspace_name_key, force, skip_ros
         return False
     # Update the workspace
     print(TerminalFormatter.color_text("Updating isaac_ros_common repository", bold=True))
-    isaac_ros_branch = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
+    isaac_ros_branch = params['isaac_ros_branch']
     ros.manage_isaac_ros_common_repo(nanosaur_home_path, isaac_ros_branch, args.force)
     print(TerminalFormatter.color_text(f"Updating {workspace}", bold=True))
     if action := workspace_actions.get(workspace):
@@ -568,6 +569,8 @@ def clean_workspace(nanosaur_ws_name) -> bool:
 def create_simple(platform, params: utilities.Params, args) -> bool:
     # Create the Nanosaur home folder
     nanosaur_home_path = utilities.create_nanosaur_home()
+    # Store nanosaur distro and Isaac ROS distro
+    params['nanosaur_branch'] = params.get('nanosaur_branch', utilities.NANOSAUR_MAIN_BRANCH)
     # Determine the device type
     workspace_type = "robot" if platform['Machine'] == 'jetson' else "simulation"
     docker_compose = f"docker-compose.{workspace_type}.yml"
@@ -584,6 +587,8 @@ def create_developer_workspace(platform, params: utilities.Params, args, passwor
     create_simple(platform, params, args)
     # Create the Nanosaur home folder
     nanosaur_home_path = utilities.create_nanosaur_home()
+    # Store nanosaur distro and Isaac ROS distro
+    params['isaac_ros_branch'] = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
     # Create the shared source folder
     create_shared_workspace()
     # Create developer workspace
@@ -604,6 +609,9 @@ def create_maintainer_workspace(platform, params: utilities.Params, args, passwo
     device_type = "robot" if platform['Machine'] == 'jetson' else "desktop"
     # Create the Nanosaur home folder
     nanosaur_home_path = utilities.create_nanosaur_home()
+    # Store nanosaur distro and Isaac ROS distro
+    params['nanosaur_branch'] = params.get('nanosaur_branch', utilities.NANOSAUR_MAIN_BRANCH)
+    params['isaac_ros_branch'] = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
     # Create the shared source folder
     create_shared_workspace()
     if device_type == "robot" or args.all: