squashed

.github/workflows/main.yml

@@ -62,15 +62,15 @@ jobs:
           - "gcc"
           - "clang"
         external_dependency_system:
-          # - bzlmod  # TODO: https://github.com/mvukov/rules_ros2/pull/238
+          - bzlmod
           - workspace
         include:
           - toolchain: "gcc"
             config_option: ""
           - toolchain: "clang"
             config_option: "--config=clang"
-          # - external_dependency_system: bzlmod
-          #   bzlmod_flags: --enable_bzlmod
+          - external_dependency_system: bzlmod
+            bzlmod_flags: --enable_bzlmod
           - external_dependency_system: workspace
             bzlmod_flags: --noenable_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 +1,111 @@
+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 = "boringssl", version = "0.0.0-20240126-22d349c")
+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 = "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 = "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 = "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")
+
+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",
+    "ros2",
+)

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 +1,9 @@
+load("@com_github_mvukov_rules_ros2//repositories:repositories.bzl", "ros2_repositories", "rules_ros2_workspace_and_bazelmod_common_deps")
+
+def _non_module_deps_impl(mctx):
+    rules_ros2_workspace_and_bazelmod_common_deps()
+    ros2_repositories()
+
+non_module_deps = module_extension(
+    implementation = _non_module_deps_impl,
+)

renovate.json5

@@ -25,7 +25,7 @@
         "eigen",
         "foxglove_bridge",
         "nlohmann_json",
-        "openssl",
+        "boringssl",
         "pybind11",
         "rules_foreign_cc",
         "rules_python",

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/curl.BUILD.bazel

@@ -104,7 +104,7 @@ cp ${BUILD_TMPDIR}/lib/libcurl.a ${INSTALLDIR}/lib
     """,
     visibility = ["//visibility:public"],
     deps = [
-        "@openssl//:ssl",
+        "@boringssl//:ssl",
         "@zlib",
     ],
 )

repositories/foxglove_bridge.BUILD.bazel

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

repositories/libyaml.BUILD.bazel

@@ -20,7 +20,7 @@ expand_template(
 )
 
 cc_library(
-    name = "yaml",
+    name = "libyaml",
     srcs = [
         "src/api.c",
         "src/dumper.c",

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 = """\

repositories/rcl.BUILD.bazel

@@ -13,7 +13,7 @@ ros2_c_library(
     includes = ["rcl_yaml_param_parser/include"],
     visibility = ["//visibility:public"],
     deps = [
-        "@libyaml//:yaml",
+        "@libyaml",
         "@ros2_rcutils//:rcutils",
         "@ros2_rmw//:rmw",
     ],