Feature/examples repo #43

mvukov · 2024-08-08T06:06:30Z

The PR converts examples to a separate repo -- the idea is to illustrate how one would include rules_ros into their own projects.

Some notes:

rules_python needs to be defined in both repos and rules_python must be a regular dep in rules_ros repo as well.
.bazelrc needs to have a config setting that we use Python 3.10. BTW, users won't have option any more to use Python other than 3.10 (at least I couldn't figure this out).
Users don't have option any more to extend requirements.txt from rules_ros and extend this such that they can use their own packages as well in their repos under rules_ros_pip_deps. This was possible with workspace-workflow but not any more with bzlmod; I figured this out while working on the PR. It would be nice if we could supply an external requirements lock file to rules_ros.

mvukov · 2024-08-15T08:48:38Z

@finn-ball @hofbi PTAL.

examples/MODULE.bazel

finn-ball · 2024-08-15T08:52:48Z

.bazelrc

@@ -26,6 +26,9 @@ build --heap_dump_on_oom
 # Speed up all builds by not checking if output files have been modified.
 build --noexperimental_check_output_files

+# This is a mandatory flag.
+build --@rules_python//python/config_settings:python_version=3.10


If you add the default = True attribute to the python toolchain in the MODULE file, then you don't need this, right?

Didn't change the toolchain in rules_ros. The flag isn't needed in rules_ros but it's needed in the examples repo.

Why is this required in the examples repo?

Otherwise Bazel can't figure out that pip deps are indeed for Python 3.10 toolchain. E.g. I get:

ERROR: /home/user/.cache/bazel/_bazel_user/6e0e647a7496b7382203f7000f7beb27/external/rules_python~~pip~rules_ros_pip_deps/empy/BUILD.bazel:27:6: configurable attribute "actual" in @@rules_python~~pip~rules_ros_pip_deps//empy:pkg doesn't match this configuration: No matching wheel for current configuration's Python version. The current build configuration's Python version doesn't match any of the Python wheels available for this wheel. This wheel supports the following Python configuration settings: //_config:is_python_3.10 To determine the current configuration's Python version, run: `bazel config <config id>` (shown further below) and look for rules_python//python/config_settings:python_version If the value is missing, then the "default" Python version is being used, which has a "null" version value and will not match version constraints. This instance of @@rules_python~~pip~rules_ros_pip_deps//empy:pkg has configuration identifier aaa66e7. To inspect its configuration, run: bazel config aaa66e7. For more help, see https://bazel.build/docs/configurable-attributes#faq-select-choose-condition. ERROR: Analysis of target '//chatter:talker_tests' failed; build aborted: Analysis failed

If this is required for the examples repo only, would it make sense to have a .bazelrc for the examples repo only to avoid this for the main repo?

I don't want to maintain two .bazelrc files, that's why I synmlink-ed the rules_ros2 repo one to the examples repo. The flag doesn't harm the main repo.

finn-ball · 2024-08-15T08:57:21Z

examples/BUILD.bazel

@@ -0,0 +1,29 @@
+alias(


Are these aliases to ensure they are built as I don't see what in the examples depends on them. If so, could be worth adding a comment as to why they're here.

It's more for convenience, referenced some of them in the readme for the chatter examples.

Added docs.

mvukov · 2024-08-15T08:59:17Z

third_party/ros/rostest/BUILD.bazel

    ],
 )

+symlink(


I don't like to approach in particular, but until py_binary starts to have a single file in DefaultInfo, I am afraid we'll need this.

In particular: https://github.com/bazelbuild/rules_python/blob/main/python/private/common/py_executable.bzl#L767: DefaultInfo.files should be just the executable, the rest should go to runfiles. For backwards compatibility reasons, this functionality needs to go under a new incompatible flag.

Co-authored-by: Finn <finn.ball@codificasolutions.com>

…nto feature/examples_repo

hofbi

Regarding your third bullet point in the PR description about overriding/extending the requirements, @finn-ball already created this PR for rules_python. We are still discussing why this is required, so maybe we can use this as an example. Feel free to join the discussion there.

hofbi · 2024-08-15T13:03:43Z

.bazelrc

@@ -26,6 +26,9 @@ build --heap_dump_on_oom
 # Speed up all builds by not checking if output files have been modified.
 build --noexperimental_check_output_files

+# This is a mandatory flag.
+build --@rules_python//python/config_settings:python_version=3.10


Why is this required in the examples repo?

hofbi · 2024-08-15T13:04:43Z

examples/MODULE.bazel

@@ -0,0 +1,51 @@
+module(name = "rules_ros_examples")
+
+bazel_dep(name = "rules_python", version = "0.34.0")


If you now specify your own python toolchain, wouldn't it be possible to use a different python version?

It won't let me reply to the above .bazelrc question but basically because no toolchain is specified as default in the example MODULE.bazel file, you have to specify it as a config flag in the .bazelrc

Would it help if we specify a toolchain here?

If I add the following to examples/MODULE.bazel:

python = use_extension("@rules_python//python/extensions:python.bzl", "python") python.toolchain( is_default = True, python_version = "3.10", )

and remove the config flag from .bazelrc: that works for the examples repo but I get:

DEBUG: /home/user/.cache/bazel/_bazel_user/6e0e647a7496b7382203f7000f7beb27/external/rules_python~/python/private/python.bzl:46:10: WARNING: Ignoring toolchain 'python_3_10' from module 'rules_ros': Toolchain 'python_3_10' from module 'rules_ros_examples' already registered Python version 3.10 and has precedence

IMO, the flag in .bazelrc is a cleaner solution.

But isn't this what we want? Being able to override the Python toolchain used?

Didn't have time to investigate how this would work. If you have some time, give it a shot. But, yes, it would be nice if toolchain override could work.

Ok fine with me. Let's try that and once it is merged I will try to update in our codebase and report back if there are any errors.

…les_repo

mvukov added 10 commits August 8, 2024 00:08

WIP Work out examples as a separate repo

94932b4

Specify Python version in .bazelrc

7982433

Symlink test utils

6d2db95

Fix nit

a07dc97

Update CI config

b544693

Update docs

da645f0

Update docs

0f3fb49

Update CI config

ab75189

Update CI config

715addf

Simplify examples module

f5b4141

mvukov marked this pull request as ready for review August 15, 2024 08:47

finn-ball reviewed Aug 15, 2024

View reviewed changes

mvukov commented Aug 15, 2024

View reviewed changes

mvukov and others added 4 commits August 15, 2024 11:00

Update examples/MODULE.bazel

3faf693

Co-authored-by: Finn <finn.ball@codificasolutions.com>

Update docs

63d7c24

Merge branch 'feature/examples_repo' of github.com:mvukov/rules_ros i…

5fa846f

…nto feature/examples_repo

Update docs

8e88efe

hofbi reviewed Aug 15, 2024

View reviewed changes

mvukov added 5 commits August 21, 2024 21:33

Fix nit

fc7278f

Merge branch 'main' of github.com:mvukov/rules_ros into feature/examp…

9253ca9

…les_repo

Fix nit

c1b897e

Expose @boost in the examples repo

d8ead2d

Fix nit

7c7df83

mvukov merged commit 43c7889 into main Aug 21, 2024
4 checks passed

mvukov deleted the feature/examples_repo branch August 21, 2024 20:40

This was referenced Aug 21, 2024

Add example for bzlmod and fix usage #33

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Add working example of consuming as bzlmod #36

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Using rules_ros via bzlmod results in invalid label for module extension found #32

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hofbi mentioned this pull request Sep 10, 2024

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Feature/examples repo #43

Feature/examples repo #43

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hofbi Aug 20, 2024

		@@ -0,0 +1,51 @@
		module(name = "rules_ros_examples")

		bazel_dep(name = "rules_python", version = "0.34.0")

Feature/examples repo #43

Feature/examples repo #43

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