Updated repo layout

Author: kineticsystem

README.md

@@ -4,21 +4,19 @@
 [![Format](https://github.com/kineticsystem/stepit/actions/workflows/ci-format.yml/badge.svg)](https://github.com/kineticsystem/stepit/actions/workflows/ci-format.yml)
 [![Linters](https://github.com/kineticsystem/stepit/actions/workflows/ci-ros-lint.yml/badge.svg)](https://github.com/kineticsystem/stepit/actions/workflows/ci-ros-lint.yml)
 
-
 ## Table of Contents
 
-- [Table of Contents](#table-of-contents)
-- [Introduction](#introduction)
-- [Prerequisites](#prerequisites)
-- [Install StepIt on the Microcontroller](#install-stepit-on-the-microcontroller)
-- [Install StepIt on the Local Computer](#install-stepit-on-the-local-computer)
-  - [Setup a Project Workspace](#setup-a-project-workspace)
-  - [Chekout the Git Repository](#chekout-the-git-repository)
-  - [Pre-Commit Hooks](#pre-commit-hooks)
-  - [Build the Project](#build-the-project)
-- [Running the Application](#running-the-application)
-- [How to run GitHub Actions locally](#how-to-run-github-actions-locally)
-
+- [StepIt](#stepit)
+  - [Table of Contents](#table-of-contents)
+  - [Introduction](#introduction)
+  - [Prerequisites](#prerequisites)
+  - [Install StepIt on the Microcontroller](#install-stepit-on-the-microcontroller)
+  - [Install StepIt on the Local Computer](#install-stepit-on-the-local-computer)
+    - [Chekout the Git Repository](#chekout-the-git-repository)
+    - [Pre-Commit Hooks](#pre-commit-hooks)
+    - [Build the Project](#build-the-project)
+  - [Running the Application](#running-the-application)
+  - [How to run GitHub Actions locally](#how-to-run-github-actions-locally)
 
 ## Introduction
 
@@ -50,31 +48,11 @@ If PlatformIO cannot find the Python interpreter, install the following:
 
 ## Install StepIt on the Local Computer
 
-### Setup a Project Workspace
-
-Open a terminal and run the following command to source the ROS 2 Humble installation.
-
-`source /opt/ros/humble/setup.bash`
-
-Create a project folder anywhere inside the home directory, for example
-
-`<HOME_DIR>/stepit_ws`
-
-Through the document, we will use `<STEPIT_WS>` to refer to this folder.
-
-```
-cd ~
-mkdir stepit_ws
-cd stepit_ws
-```
-
 ### Chekout the Git Repository
 
-Create a source folder and check out this git repository, including all required submodules.
+Check out this git repository, including all required submodules.
 
 ```
-mkdir src
-cd src
 git clone --recurse-submodules [email protected]:kineticsystem/stepit.git
 ```
 
@@ -101,7 +79,7 @@ pre-commit install
 
 ### Build the Project
 
-Move into the base `<STEPIT_WS>` folder and install all required dependencies.
+Move into the repo and install all required dependencies.
 
 ```
 rosdep install --ignore-src --from-paths . -y -r
@@ -125,15 +103,13 @@ colcon test
 By default, the application runs with fake motors. Run the following commands on a terminal to start it up. This will also start up RViz.
 
 ```
-cd <STEPIT_WS>
 source install/setup.bash
 ros2 launch stepit_description robot.launch.py
 ```
 
 We can control the motors with a velocity controller or a position controller. Open a different terminal and run any of the following commands to spin up the fake motors.
 
 ```
-cd <STEPIT_WS>
 source install/setup.bash
 ```
 

docker/dock.sh

@@ -58,6 +58,8 @@ function build_image() {
 function create_container() {
     local name="$1"
     local repo_path="$2"
+    # Convert repo_path to absolute path if it's relative
+    repo_path=$(realpath "$repo_path")
     # Start the container and keep it running.
     docker create \
       --name $name \
@@ -89,7 +91,8 @@ function display_usage() {
     echo -e "\nUsage: ./dock.sh <container-name> <command> [options]\n
     Commands:
     build   Build a container without starting it
-            Usage: ./dock.sh container-name build path-to-repo
+            Usage: ./dock.sh container-name build [path-to-repo]
+            Note: If path-to-repo is omitted, current working directory is used
     start   Start the container and open an interactive terminal
             Usage: ./dock.sh container-name start
     stop    Stop the container
@@ -98,6 +101,9 @@ function display_usage() {
             Usage: ./dock.sh container-name clean\n"
 }
 
+# Capture the user's current working directory before changing directories
+USER_PWD="$PWD"
+
 cd "$(dirname "$0")"
 
 # Allows any local user to connect to your X server, including the Docker container.
@@ -113,17 +119,22 @@ fi
 # Assign the first two arguments to descriptive variables
 name="$1"
 command="$2"
-shift 2  # Shift off the first two arguments
 
 case "$command" in
     build)
-        if [ "$#" -lt 1 ]; then
-            echo "Missing repository path for the build command."
-            display_usage
-            exit 1
+        # If a third argument exists, use it as repo_path, otherwise use user's working directory
+        if [ "$#" -ge 3 ]; then
+            repo_path="$3"
+            # Handle special case of "." to mean user's current directory
+            if [ "$repo_path" = "." ]; then
+                repo_path="$USER_PWD"
+            # If the path is relative, make it relative to the user's original directory
+            elif [[ "$repo_path" != /* ]]; then
+                repo_path="$USER_PWD/$repo_path"
+            fi
+        else
+            repo_path="$USER_PWD"
         fi
-        repo_path="$1"
-        shift
         stop_container $name
         remove_container $name
         remove_image $name
@@ -145,14 +156,7 @@ case "$command" in
         remove_image $name
         ;;
     *)
-        echo "Unknown parameter: $1"
+        echo "Unknown parameter: $command"
         display_usage
         ;;
 esac
-
-# Check for any extra unexpected arguments
-if [ "$#" -gt 0 ]; then
-    echo "Unexpected arguments: $@"
-    display_usage
-    exit 1
-fi