ros_설명

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
fi
alias dohumble='source /opt/ros/humble/setup.bash; echo Activate humble!'
export _colcon_cd_root=~/robot_ws
export ROS_DOMAIN_ID=0
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

#export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/kime/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.ros2_bridge/humble/lib

source /opt/ros/humble/setup.bash
source ~/IsaacSim-ros_workspaces/humble_ws/install/local_setup.bash
export FASTRTPS_DEFAULT_PROFILES_FILE=~/IsaacSim-ros_workspaces/humble_ws/fastdds.xml

export ISAAC_ROS_WS=/home/kime/workspaces/isaac_ros-dev/


alias PYTHON_PATH=~/.local/share/ov/pkg/isaac_sim-2023.1.1/python.sh

이 스크립트는 Bash 쉘에서 프로그래밍 자동 완성 기능을 설정하고 ROS(Humble 버전) 환경을 구성하는 과정을 담고 있습니다:

1. **자동 완성 기능 활성화**: `/etc/bash.bashrc`나 `/etc/profile`에서 이미 활성화되어 있지 않은 경우, `bash_completion` 스크립트를 소싱하여 자동 완성 기능을 활성화합니다.

2. **alias 설정**: `dohumble`이라는 alias를 설정하여 ROS 환경을 빠르게 소싱할 수 있게 합니다. `Activate humble!`이라는 메시지를 출력합니다.

3. **환경 변수 설정**:
   - `_colcon_cd_root`: colcon 작업 공간의 루트 디렉토리를 설정합니다.
   - `ROS_DOMAIN_ID`: ROS 2 노드 간의 통신을 위한 도메인 ID를 0으로 설정합니다.
   - `RMW_IMPLEMENTATION`: ROS 미들웨어 구현을 Fast RTPS로 설정합니다.

4. **ROS 환경 소싱**: `/opt/ros/humble/setup.bash` 및 로컬 작업 공간의 `local_setup.bash`을 소싱하여 필요한 환경 변수들을 설정합니다.

5. **Fast RTPS 프로파일 설정**: Fast RTPS 통신을 위한 설정 파일 경로를 지정합니다.

6. **추가 경로 설정**: Isaac Sim과 관련된 추가 환경 변수 설정을 합니다.

각 명령은 로봇 개발과 시뮬레이션 작업을 위한 환경을 구축하고, 필요한 도구와 라이브러리에 대한 접근을 용이하게 하기 위한 것입니다.