squashed all previous commits

try 3.11 ...

disable bzlmod ci for examples for now

fix ci

fail-fast: false

--keep_going

remove module extension duplication

fix example WORKSPACE setup

calculate correct name of numpy repo

fix WORKSPACE build

also in examples WORKSPACE

wip. trying to export repos

show bzlmod issues in example

rebase, update packages

cleanup

fix pre-commit

more repos

drop boost (rebased onto `drop-boost` branch)

bzlmodify googletest

bzlmodify nlohmann_json

bzlmodify fmt

bzlmodify spdlog (needs downgrade)

upgrade fmt to be compatible with spdlog from bcr

bzlmodify tinyxml. needs downgrade

readerwriterqueue

sqlite

zstd

lz4 (upgrade)

yaml_cpp (upgrade)

eigen

fix yaml-cpp name

fix sqlite3 name

fix sqlite3 visibility

Fix aggregator_node runfiles path

re-add WORKSPACE.bzlmod 🤷

fix pre-commit

asio (upgrade)

zlib (upgrade)

pybind11

fix accidental rename

fix undefined symbol SSL_ctrl in foxglove_bridge_base (no ssl dep in bzlmod asio)

python_interpreter_target

pre-commit run

python_configure.toolchain

missing comma

go back to WORKSPACE version of pybind11

check zstd include fix is actually solved on ci

change WORKSPACE asio to header-only implementation used in bzlmod

.bazelrc

@@ -4,14 +4,6 @@
 # Mandatory at the moment for Bazel 7.0.0.
 build --noincompatible_sandbox_hermetic_tmp
 
-# This is mandatory if your build env doesn't have a proper Python 3 exe
-# -- like the CI build image for this repo.
-# The build image is using a fake python exe, see
-# https://github.com/mvukov/bazel_builder/blob/main/Dockerfile.
-# If blzmod is enabled, but not used as in this repo at the moment),
-# then bazel for some reason tries to auto-detect a Python exe.
-build --noenable_bzlmod
-
 # Fix the wrong default to generate __init__.py to delimit a Python package.
 # This is a mandatory flag.
 build --incompatible_default_to_explicit_init_py
@@ -37,6 +29,9 @@ build --noexperimental_check_output_files
 # Don't bother building targets which aren't dependencies of the tests.
 test --build_tests_only
 
+# Show all the problems in CI
+test --keep_going
+
 # To use a clang compiler, invoke Bazel with `--config=clang`.
 build:clang --repo_env=CC=clang
 build:clang --repo_env=CXX=clang++

.github/workflows/main.yml

@@ -53,7 +53,11 @@ jobs:
 
     # Run bazel test with gcc and clang in each workspace
     strategy:
+      fail-fast: false
       matrix:
+        bzlmod:
+          - "--enable_bzlmod"
+          - "--noenable_bzlmod"
         folder:
           - "."
           - "examples"
@@ -91,11 +95,11 @@ jobs:
             ~/.cache/bazel-repo
           key: v3-bazel-repo-cache-${{ matrix.toolchain }}-${{ hashFiles('.bazelversion', 'examples/WORKSPACE', 'repositories/**', 'requirements_lock.txt', 'WORKSPACE') }}
           restore-keys: v3-bazel-repo-cache-${{ matrix.toolchain }}-
-      - name: bazel test ${{ matrix.config_option }} //...
+      - name: bazel test ${{ matrix.config_option }} ${{ matrix.bzlmod}} //...
         env:
           # Bazelisk will download bazel to here, ensure it is cached between runs.
           XDG_CACHE_HOME: ~/.cache/bazel-repo
           BUILDBUDDY_ORG_API_KEY: ${{ secrets.BUILDBUDDY_ORG_API_KEY }}
           USER: ${{ needs.configure.outputs.user_name }}
         working-directory: ${{ matrix.folder }}
-        run: ${GITHUB_WORKSPACE}/.github/workflows/test.sh ${{ matrix.config_option }}
+        run: ${GITHUB_WORKSPACE}/.github/workflows/test.sh ${{ matrix.config_option }} ${{ matrix.bzlmod}}

.pre-commit-config.yaml

@@ -1,5 +1,4 @@
 default_language_version:
-  python: python3.10
   node: 18.16.0
 
 default_stages: [commit]

MODULE.bazel

@@ -0,0 +1,107 @@
+module(name = "com_github_mvukov_rules_ros2")
+
+bazel_dep(name = "asio", version = "1.28.2")
+bazel_dep(name = "bazel_skylib", version = "1.5.0")
+bazel_dep(name = "eigen", version = "3.4.0")
+bazel_dep(name = "fmt", version = "10.2.1")
+bazel_dep(name = "googletest", version = "1.14.0.bcr.1")
+bazel_dep(name = "lz4", version = "1.9.4")
+bazel_dep(name = "nlohmann_json", version = "3.11.3")
+bazel_dep(name = "platforms", version = "0.0.8")
+bazel_dep(name = "readerwriterqueue", version = "1.0.6")
+bazel_dep(name = "rules_cc", version = "0.0.9")
+bazel_dep(name = "rules_foreign_cc", version = "0.10.1")
+bazel_dep(name = "rules_python", version = "0.29.0")
+bazel_dep(name = "spdlog", version = "1.12.0")
+bazel_dep(name = "sqlite3", version = "3.42.0.bcr.1")
+bazel_dep(name = "tinyxml2", version = "9.0.0")
+bazel_dep(name = "yaml-cpp", version = "0.8.0")
+bazel_dep(name = "zlib", version = "1.3")
+bazel_dep(name = "zstd", version = "1.5.5.bcr.1")
+
+python = use_extension("@rules_python//python:extensions.bzl", "python")
+python.toolchain(
+    is_default = True,
+    python_version = "3.11",
+)
+use_repo(python, "python_versions")
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.whl_mods(
+    # Keep this in sync with repositories/pip_annotations.bzl
+    additive_build_content = """\
+cc_library(
+    name = "headers",
+    hdrs = glob(["site-packages/numpy/core/include/numpy/**/*.h"]),
+    includes = ["site-packages/numpy/core/include"],
+    deps = ["@rules_python//python/cc:current_py_cc_headers"],
+)
+""",
+    hub_name = "whl_mods_hub",
+    whl_name = "numpy",
+)
+use_repo(pip, "whl_mods_hub")
+pip.parse(
+    hub_name = "rules_ros2_pip_deps",
+    python_version = "3.11",
+    requirements_lock = "//:requirements_lock.txt",
+    whl_modifications = {"@whl_mods_hub//:numpy.json": "numpy"},
+)
+use_repo(pip, "rules_ros2_pip_deps")
+use_repo(pip, "rules_ros2_pip_deps_311_numpy")
+pip.parse(
+    hub_name = "rules_ros2_resolver_deps",
+    python_version = "3.11",
+    requirements_lock = "//repositories/private:resolver_requirements_lock.txt",
+)
+use_repo(pip, "rules_ros2_resolver_deps")
+
+non_module_deps = use_extension("@com_github_mvukov_rules_ros2//:extensions.bzl", "non_module_deps")
+use_repo(
+    non_module_deps,
+    "cyclonedds",
+    "foxglove_bridge",
+    "iceoryx",
+    "osrf_pycommon",
+    "pybind11",
+    "ros2_ament_cmake_ros",
+    "ros2_ament_index",
+    "ros2_class_loader",
+    "ros2_common_interfaces",
+    "ros2_diagnostics",
+    "ros2_geometry2",
+    "ros2_image_common",
+    "ros2_kdl_parser",
+    "ros2_keyboard_handler",
+    "ros2_launch",
+    "ros2_launch_ros",
+    "ros2_libstatistics_collector",
+    "ros2_message_filters",
+    "ros2_pluginlib",
+    "ros2_rcl",
+    "ros2_rcl_interfaces",
+    "ros2_rcl_logging",
+    "ros2_rclcpp",
+    "ros2_rclpy",
+    "ros2_rcpputils",
+    "ros2_rcutils",
+    "ros2_resource_retriever",
+    "ros2_rmw",
+    "ros2_rmw_cyclonedds",
+    "ros2_rmw_dds_common",
+    "ros2_rmw_implementation",
+    "ros2_robot_state_publisher",
+    "ros2_ros_testing",
+    "ros2_rosbag2",
+    "ros2_rosidl",
+    "ros2_rosidl_python",
+    "ros2_rosidl_runtime_py",
+    "ros2_rosidl_typesupport",
+    "ros2_rpyutils",
+    "ros2_tracing",
+    "ros2_unique_identifier_msgs",
+    "ros2_urdfdom",
+    "ros2_urdfdom_headers",
+    "ros2_xacro",
+    "ros2cli",
+)

examples/MODULE.bazel

@@ -0,0 +1,66 @@
+module(name = "rules_ros2_examples")
+
+bazel_dep(name = "com_github_mvukov_rules_ros2")
+local_path_override(
+    module_name = "com_github_mvukov_rules_ros2",
+    path = "..",
+)
+
+non_module_deps = use_extension("@com_github_mvukov_rules_ros2//:extensions.bzl", "non_module_deps")
+use_repo(
+    non_module_deps,
+    "cyclonedds",
+    "foxglove_bridge",
+    "iceoryx",
+    "osrf_pycommon",
+    "ros2_ament_cmake_ros",
+    "ros2_ament_index",
+    "ros2_class_loader",
+    "ros2_common_interfaces",
+    "ros2_diagnostics",
+    "ros2_geometry2",
+    "ros2_image_common",
+    "ros2_kdl_parser",
+    "ros2_keyboard_handler",
+    "ros2_launch",
+    "ros2_launch_ros",
+    "ros2_libstatistics_collector",
+    "ros2_message_filters",
+    "ros2_pluginlib",
+    "ros2_rcl",
+    "ros2_rcl_interfaces",
+    "ros2_rcl_logging",
+    "ros2_rclcpp",
+    "ros2_rclpy",
+    "ros2_rcpputils",
+    "ros2_rcutils",
+    "ros2_resource_retriever",
+    "ros2_rmw",
+    "ros2_rmw_cyclonedds",
+    "ros2_rmw_dds_common",
+    "ros2_rmw_implementation",
+    "ros2_robot_state_publisher",
+    "ros2_ros_testing",
+    "ros2_rosbag2",
+    "ros2_rosidl",
+    "ros2_rosidl_python",
+    "ros2_rosidl_runtime_py",
+    "ros2_rosidl_typesupport",
+    "ros2_rpyutils",
+    "ros2_tracing",
+    "ros2_unique_identifier_msgs",
+    "ros2_urdfdom",
+    "ros2_urdfdom_headers",
+    "ros2_xacro",
+    "ros2cli",
+)
+
+bazel_dep(name = "rules_cc", version = "0.0.9")
+bazel_dep(name = "rules_python", version = "0.29.0")
+
+python = use_extension("@rules_python//python:extensions.bzl", "python")
+python.toolchain(
+    is_default = True,
+    python_version = "3.11",
+)
+use_repo(python, "python_versions")

extensions.bzl

@@ -0,0 +1,8 @@
+load("@com_github_mvukov_rules_ros2//repositories:repositories.bzl", "ros2_repositories")
+
+def _non_module_deps_impl(mctx):
+    ros2_repositories()
+
+non_module_deps = module_extension(
+    implementation = _non_module_deps_impl,
+)

repositories/asio.BUILD.bazel

@@ -5,15 +5,10 @@ load("@rules_cc//cc:defs.bzl", "cc_library")
 
 cc_library(
     name = "asio",
-    srcs = glob(["src/*.cpp"]),
-    hdrs = glob([
-        "include/**/*.hpp",
-        "include/**/*.ipp",
+    srcs = glob([
+        "**/*.hpp",
+        "**/*.ipp",
     ]),
-    defines = [
-        "ASIO_SEPARATE_COMPILATION",
-    ],
-    includes = ["include"],
+    includes = ["."],
     visibility = ["//visibility:public"],
-    deps = ["@openssl//:ssl"],
 )

repositories/foxglove_bridge.BUILD.bazel

@@ -26,6 +26,7 @@ cc_library(
     includes = ["foxglove_bridge_base/include"],
     deps = [
         "@nlohmann_json//:json",
+        "@openssl//:ssl",
         "@websocketpp",
     ],
 )

repositories/pip_annotations.bzl

@@ -1,5 +1,6 @@
 load("@rules_python//python:pip.bzl", "package_annotation")
 
+# Keep this in sync with MODULE.bazel
 PIP_ANNOTATIONS = {
     "numpy": package_annotation(
         additive_build_content = """\