From 232afbb059cadfbce54543d46ea16f30889b84d7 Mon Sep 17 00:00:00 2001
From: Wessel Tip <wessel@go2it.eu>
Date: Thu, 18 Sep 2025 13:18:26 +0200
Subject: [PATCH] feat(fish): Add initialize script

---
 activate.fish                          | 36 ++++++++++++++++++++++++++
 src/les_pkg/CMakeLists.txt             |  3 +++
 src/les_pkg/src/les3/action_server.cpp |  1 -
 3 files changed, 39 insertions(+), 1 deletion(-)
 create mode 100644 activate.fish

diff --git a/activate.fish b/activate.fish
new file mode 100644
index 0000000..2ec192b
--- /dev/null
+++ b/activate.fish
@@ -0,0 +1,36 @@
+export env_name="ros2-lectures"
+
+# Check if a previous initialization has occurred
+if test -n "$__ACTIVATE_INITIALIZED"
+    exit 1
+end
+
+export __ACTIVATE_INITIALIZED="1"
+
+# Check if running inside distrobox
+if test -f /run/.containerenv; or test -n "$CONTAINER_ID"
+    bass source /opt/ros/jazzy/setup.bash
+    bass source ./install/setup.bash
+    # Set environment variable for the prompt prefix
+    set -gx ROS2_LECTURES_ACTIVE 1
+
+    # Save the original prompt function if it exists
+    if not functions -q __ros2_lectures_orig_prompt
+        if functions -q fish_prompt
+            functions -c fish_prompt __ros2_lectures_orig_prompt
+        else
+            function __ros2_lectures_orig_prompt
+                echo -n (whoami)'@'(prompt_hostname)' '(set_color $fish_color_cwd)(prompt_pwd)(set_color normal)'> '
+            end
+        end
+    end
+
+    # Define new prompt with ros2-lectures prefix
+    function fish_prompt
+        echo -n (set_color green)'('$env_name')'(set_color normal)
+        __ros2_lectures_orig_prompt
+    end
+else
+    echo "This script should only be run inside a distrobox container"
+    exit 1
+end
diff --git a/src/les_pkg/CMakeLists.txt b/src/les_pkg/CMakeLists.txt
index 2fcd289..935b16b 100644
--- a/src/les_pkg/CMakeLists.txt
+++ b/src/les_pkg/CMakeLists.txt
@@ -21,6 +21,7 @@ add_executable(les2_service src/les2/service_server.cpp)
 add_executable(les2_service_client src/les2/service_client.cpp)
 
 add_executable(les3_action_server src/les3/action_server.cpp)
+add_executable(les3_action_client src/les3/action_client.cpp)
 
 ament_target_dependencies(les1_clock rclcpp)
 ament_target_dependencies(les1_publisher rclcpp std_msgs geometry_msgs les_interface)
@@ -30,6 +31,7 @@ ament_target_dependencies(les2_service rclcpp les_interface)
 ament_target_dependencies(les2_service_client rclcpp les_interface)
 
 ament_target_dependencies(les3_action_server rclcpp rclcpp_action les_interface)
+ament_target_dependencies(les3_action_client rclcpp rclcpp_action les_interface)
 
 install (
   TARGETS
@@ -39,6 +41,7 @@ install (
     les2_service
     les2_service_client
     les3_action_server
+    les3_action_client
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/src/les_pkg/src/les3/action_server.cpp b/src/les_pkg/src/les3/action_server.cpp
index 41cd6e5..8dc44bd 100644
--- a/src/les_pkg/src/les3/action_server.cpp
+++ b/src/les_pkg/src/les3/action_server.cpp
@@ -29,7 +29,6 @@ public:
     NodeActionServer()
     : Node("node_les3_action_server")
     {
-        // Communication and timer objects:
         // Callback groups make thread handling possible
         cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);