ROS 2 with Neovim

Neovim setup to work with ROS 2 Humble in Ubuntu 22.04.

This configuration can be used to develop ROS components in

• C++
• Python

This repository is meant to be used as a starting point for Neovim. Therefore, it is configured as a single init.lua file.

The file contains explanation for the different plugins used and their configurations.

The goal is that you use this repository and begin your Neovim configuration. You can add and remove plugins based on your needs.

Installation

I have a provided a config script to speed up the process of configuring Neovim for you. This script with install all the dependencies, download a version of Neovim, and deploy the configuration files to the correct path.

By default ./deploy.sh will download Neovim version v0.10.0, which is the latest stable release, to ~/open_source/neovim/.

You can change the version and path by calling the script with ./deploy --path <YOUR_PATH> --version <VERSION>. NOTE: The version can be a branch or a tag from the Neovim repository.

NOTE: Pyright requires having node version older than 12 to work properly. In the deploy script, node v18.18.2 is installed.

Post Installation

The first time you open Neovim, it will install all the Treesitter configurations, as well as the LSPs, Linters, and DAPs using Mason. This is equivalent to running :TSUpdate and :MasonToolsInstall

ripgrep supports having an ignore file globally configured. You can use the .ignore file here provided by running cp ${PWD}/.config/nvim/.ignore ~/.

Plugins

You can check the plugins that are loaded in your Neovim configuration with :Lazy

ROS Related Configurations

• Highlights for ROS 2 interfaces and Telescope integrations for common ROS 2 CLI using nvim-ros2

Colcon Commands

• :ColconBuild -> Build ROS packages in current working directory
• :ColconBuildSingle <ROS_PKG> -> Build the given <ROS_PKG>
• :ColconBuildDebug -> Build ROS packages with Debug symbols
• :ColconBuildDebugSingle <ROS_PKG> -> Build the given <ROS_PKG> with Debug symbols
• :ColconTest -> Run colcon test
• :ColconTestSingle <ROS_PKG> -> Run colcon test --packages-select <ROS_PKG>
• :ColconTestResult -> Run colcon test-result --all

C++

LSP

Clang is the LSP here configured. If you use the previously listed commands, this configuration is already taken cared of. Additionally, it generates a compile_commands.json that is needed by clang.

Linters

• clang-tidy: Requires a .clang-tidy config file
• cpplint

Formatting

• clang-format: Requires a .clang-format config file

Python

LSP

• Pyright is the LSP here configured
• ruff_lsp: Handles linting files exposing LSP diagnostics. This is configured using pyproject.toml

Formatting

• ruff_format: Requires a pyproject.toml config file. This is the formatter used by default, if not found, black would be used.

Use cases hints

General

• Open file tree :NvimTreeToggle

• Open current file in tree :NvimTreeFindFile

• Open search files :Telescope find_files

• Grep local files :Telescope live_grep

• Open keymaps :Telescope keymaps

• Open old files :Telescope oldfiles

• Open multi-file search and replace :Spectre

• Open diagnostics :TroubleToggle

• Open diagnostics for current file :TroubleToggle document_diagnostics

• Open diagnostics for whole workspace :TroubleToggle workspace_diagnostics

• Open Git :Git

• Compare changes :DiffviewOpen <BRANCH1>..<BRANCH2>

LSP

NOTE: space is the leader key. You can check the actual commands used by the keybindings in the init.lua

• Expand diagnostics space + e
• Hover Documentation K
• Switch between header and source Shift + Tab
• Type definition space + D
• Go to definition gd
• Go to declaration gD
• Code Action space + ca
• Rename space + rn

Debugging

For debugging files you can use the following commands

Note: Make sure to compile the C++ files with debug symbols enabled

• Add breakpoint to current line :DapToggleBreakpoint
• Open Debugger UI F2
• Start debugger :DapContinue
  • Select the desirable Configuration (e.g. Launch File)
• You can then use the UI to step over/into or :DapStepOver

Snippets

A collection of snippets have been configured for C++ and Python. You can find them in the snippets dir

To explore the available snippets do :Telescope luasnip

Comments

This repository is heavily inspired on kickstart, which is a similar Neovim configuration for general purposes.

Please, check out their great explanation on how to configure and extend a Neovim configuration.