Bzlmod

.bazelrc

@@ -4,13 +4,9 @@
 # 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
+# Don't let local Python site packages leak into the build and cause problems
+common --incompatible_strict_action_env
+common --action_env=PYTHONNOUSERSITE=1
 
 # Fix the wrong default to generate __init__.py to delimit a Python package.
 # This is a mandatory flag.
@@ -37,6 +33,11 @@ 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
+test --test_output=errors
+build --verbose_failures
+
 # To use a clang compiler, invoke Bazel with `--config=clang`.
 build:clang --repo_env=CC=clang
 build:clang --repo_env=CXX=clang++

.github/workflows/ci.bazelrc

@@ -22,9 +22,7 @@ build:remote --noslim_profile
 
 # Don't spam CI logs.
 build --show_progress_rate_limit=60
+common --color=yes
 
-# Don't rely on test logs being easily accessible from the test runner,
-# though it makes the log noisier.
-test --test_output=errors
 # Allows tests to run bazelisk-in-bazel, since this is the cache folder used
 test --test_env=XDG_CACHE_HOME

.github/workflows/main.yml

@@ -53,18 +53,26 @@ jobs:
 
     # Run bazel test with gcc and clang in each workspace
     strategy:
+      fail-fast: false
       matrix:
         folder:
           - "."
           - "examples"
         toolchain:
           - "gcc"
           - "clang"
+        external_dependency_system:
+          - bzlmod
+          - workspace
         include:
           - toolchain: "gcc"
             config_option: ""
           - toolchain: "clang"
             config_option: "--config=clang"
+          - external_dependency_system: bzlmod
+            bzlmod_flags: --enable_bzlmod
+          - external_dependency_system: workspace
+            bzlmod_flags: --noenable_bzlmod
 
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
@@ -89,13 +97,21 @@ jobs:
           path: |
             ~/.cache/bazel
             ~/.cache/bazel-repo
-          key: v3-bazel-repo-cache-${{ matrix.toolchain }}-${{ hashFiles('.bazelversion', 'examples/WORKSPACE', 'repositories/**', 'requirements_lock.txt', 'WORKSPACE') }}
-          restore-keys: v3-bazel-repo-cache-${{ matrix.toolchain }}-
-      - name: bazel test ${{ matrix.config_option }} //...
+          key: >-
+            v3-bazel-repo-cache
+            -${{ matrix.external_dependency_system }}-${{ matrix.toolchain }}
+            -${{ hashFiles('.bazelversion', '**/WORKSPACE', '**/MODULE.bazel', 'repositories/**/*.bzl', 'requirements_lock.txt') }}
+          restore-keys: >-
+            v3-bazel-repo-cache
+            -${{ matrix.external_dependency_system }}-${{ matrix.toolchain }}
+      - name: bazel test //...
         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_flags }}

.gitignore

@@ -2,3 +2,4 @@
 bazel-*
 __pycache__
 user.bazelrc
+external/

.pre-commit-config.yaml

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

BUILD.bazel

@@ -1,4 +1,6 @@
-load("@rules_python//python:pip.bzl", "compile_pip_requirements")
+load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_python//python:pip.bzl", "whl_filegroup")
+load("@rules_ros2_pythons//3.10:defs.bzl", "compile_pip_requirements")
 
 compile_pip_requirements(
     name = "python_requirements",
@@ -12,3 +14,17 @@ exports_files([
     "requirements.txt",
     "requirements_lock.txt",
 ])
+
+whl_filegroup(
+    name = "numpy_includes",
+    pattern = "numpy/core/include/numpy",
+    whl = "@rules_ros2_pip_deps//numpy:whl",
+)
+
+cc_library(
+    name = "rules_ros2_pip_deps_numpy_headers",
+    hdrs = [":numpy_includes"],
+    includes = ["numpy_includes/numpy/core/include"],
+    visibility = ["//visibility:public"],
+    deps = ["@rules_python//python/cc:current_py_cc_headers"],
+)

MODULE.bazel

@@ -0,0 +1,102 @@
+module(name = "com_github_mvukov_rules_ros2")
+
+bazel_dep(name = "asio", version = "1.28.2")
+bazel_dep(name = "bazel_skylib", version = "1.6.1")
+bazel_dep(name = "boringssl", version = "0.0.0-20240126-22d349c")
+bazel_dep(name = "curl", version = "8.4.0")
+bazel_dep(name = "eigen", version = "3.4.0")
+bazel_dep(name = "fmt", version = "10.2.1")
+bazel_dep(name = "libyaml", version = "0.2.5")
+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 = "pybind11_bazel", version = "2.11.1.bzl.3")
+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 = "0.33.2")
+
+bazel_dep(name = "googletest", version = "1.14.0.bcr.1", dev_dependency = True)
+
+bazel_dep(name = "spdlog", version = "1.12.0")
+bazel_dep(name = "sqlite3", version = "3.42.0.bcr.1")
+bazel_dep(name = "tinyxml2", version = "10.0.0")
+bazel_dep(name = "websocketpp", version = "0.8.2")
+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")
+
+_DEFAULT_PYTHON = "3.10"
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(python_version = _DEFAULT_PYTHON)
+use_repo(python, rules_ros2_pythons = "python_versions")
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.parse(
+    hub_name = "rules_ros2_pip_deps",
+    python_version = _DEFAULT_PYTHON,
+    requirements_lock = "//:requirements_lock.txt",
+)
+use_repo(pip, "rules_ros2_pip_deps")
+
+dev_pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip", dev_dependency = True)
+dev_pip.parse(
+    hub_name = "rules_ros2_resolver_deps",
+    python_version = _DEFAULT_PYTHON,
+    requirements_lock = "//repositories/private:resolver_requirements_lock.txt",
+)
+use_repo(dev_pip, "rules_ros2_resolver_deps")
+
+pybind_configure = use_extension("@pybind11_bazel//:internal_configure.bzl", "internal_configure_extension")
+use_repo(pybind_configure, "pybind11")
+
+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",
+    "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",
+)

WORKSPACE

@@ -10,22 +10,21 @@ load("//repositories:deps.bzl", "ros2_deps")
 
 ros2_deps()
 
-load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_toolchains")
+load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_multi_toolchains")
 
 py_repositories()
 
-python_register_toolchains(
-    name = "rules_ros2_python",
-    python_version = "3.10",
+python_register_multi_toolchains(
+    name = "rules_ros2_pythons",
+    default_version = "3.10",
+    python_versions = ["3.10"],
 )
 
 load("@rules_python//python:pip.bzl", "pip_parse")
-load("@rules_ros2_python//:defs.bzl", python_interpreter_target = "interpreter")
-load("//repositories:pip_annotations.bzl", "PIP_ANNOTATIONS")
+load("@rules_ros2_pythons//3.10:defs.bzl", python_interpreter_target = "interpreter")
 
 pip_parse(
     name = "rules_ros2_pip_deps",
-    annotations = PIP_ANNOTATIONS,
     python_interpreter_target = python_interpreter_target,
     requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
 )

examples/MODULE.bazel

@@ -0,0 +1,59 @@
+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 = "0.33.2")

examples/WORKSPACE

@@ -26,22 +26,21 @@ load("@com_github_mvukov_rules_ros2//repositories:deps.bzl", "ros2_deps")
 
 ros2_deps()
 
-load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_toolchains")
+load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_multi_toolchains")
 
 py_repositories()
 
-python_register_toolchains(
-    name = "rules_ros2_python",
-    python_version = "3.10",
+python_register_multi_toolchains(
+    name = "rules_ros2_pythons",
+    default_version = "3.10",
+    python_versions = ["3.10"],
 )
 
-load("@com_github_mvukov_rules_ros2//repositories:pip_annotations.bzl", "PIP_ANNOTATIONS")
 load("@rules_python//python:pip.bzl", "pip_parse")
-load("@rules_ros2_python//:defs.bzl", python_interpreter_target = "interpreter")
+load("@rules_ros2_pythons//3.10:defs.bzl", python_interpreter_target = "interpreter")
 
 pip_parse(
     name = "rules_ros2_pip_deps",
-    annotations = PIP_ANNOTATIONS,
     python_interpreter_target = python_interpreter_target,
     requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
 )

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,
+)

external

@@ -0,0 +1 @@
+bazel-out/../../../external

repositories/BUILD.bazel

@@ -1,12 +1,9 @@
-load("@rules_python//python:defs.bzl", "py_binary")
-
 exports_files([
     "deps.bzl",
     "logging_macros.bzl",
     "generate_rclcpp_interface.py",
     "generate_rclcpp_logging_macros.py",
     "generate_rcutils_logging_macros.py",
-    "pip_annotations.bzl",
     "rclcpp_interfaces.bzl",
     "repositories.bzl",
     "ros2_repo_mappings.yaml",

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 = ["@boringssl//:ssl"],
 )