Feature/examples repo (#43)

Co-authored-by: Finn <[email protected]>

.bazelignore

@@ -0,0 +1 @@
+examples

.bazelrc

@@ -14,6 +14,9 @@ build --incompatible_default_to_explicit_init_py
 # This is a mandatory flag.
 build --cxxopt=-std=c++17
 
+# This is a mandatory flag for user repos.
+build --@rules_python//python/config_settings:python_version=3.10
+
 # Ensure that you don't accidentally make non-hermetic actions/tests
 # which depend on remote services. Tag an individual target with
 # tags=["requires-network"] to opt-out of the enforcement.

.github/workflows/main.yml

@@ -51,6 +51,13 @@ jobs:
       image: mvukov/bazel-builder:commit-49178bdf9c151b1fdb1fb0bac580da5d53a990fd
       options: --user ${{ needs.configure.outputs.uid_gid }}
 
+    # Run bazel test with gcc and clang in each workspace
+    strategy:
+      matrix:
+        folder:
+          - "."
+          - "examples"
+
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
       - uses: actions/checkout@v4
@@ -74,12 +81,13 @@ jobs:
           path: |
             ~/.cache/bazel
             ~/.cache/bazel-repo
-          key: v1-bazel-repo-cache-${{ hashFiles('.bazelversion', 'MODULE.bazel', 'repositories/**', 'requirements_lock.txt') }}
+          key: v4-bazel-repo-cache-${{ hashFiles('.bazelversion', 'examples/MODULE.bazel', 'repositories/**', 'requirements_lock.txt', 'MODULE.bazel') }}
           restore-keys: v4-bazel-repo-cache
       - name: bazel test //...
         env:
           # Bazelisk will download bazel to here, ensure it is cached between runs.
           XDG_CACHE_HOME: /github/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

BUILD.bazel

@@ -13,33 +13,3 @@ exports_files([
     "requirements.txt",
     "requirements_lock.txt",
 ])
-
-alias(
-    name = "roscore",
-    actual = "//third_party/ros/roslaunch:roscore",
-)
-
-alias(
-    name = "rosgraph",
-    actual = "@ros_comm//:rosgraph",
-)
-
-alias(
-    name = "rosparam",
-    actual = "@ros_comm//:rosparam",
-)
-
-alias(
-    name = "rosbag_record",
-    actual = "@ros_comm//:rosbag_record",
-)
-
-alias(
-    name = "rosbag_play",
-    actual = "@ros_comm//:rosbag_play",
-)
-
-alias(
-    name = "rosservice",
-    actual = "//third_party/ros/rosservice",
-)

MODULE.bazel

@@ -1,7 +1,4 @@
-module(
-    name = "rules_ros",
-    repo_name = "com_github_mvukov_rules_ros",
-)
+module(name = "rules_ros")
 
 bazel_dep(name = "bazel_skylib", version = "1.7.1")
 bazel_dep(name = "bzip2", version = "1.0.8.bcr.1")
@@ -13,8 +10,7 @@ bazel_dep(name = "lz4", version = "1.9.4")
 bazel_dep(name = "platforms", version = "0.0.10")
 bazel_dep(name = "rules_cc", version = "0.0.9")
 bazel_dep(name = "rules_foreign_cc", version = "0.11.1")
-
-bazel_dep(name = "rules_python", version = "0.34.0", dev_dependency = True)
+bazel_dep(name = "rules_python", version = "0.34.0")
 
 non_module_ros_repositories = use_extension("//ros:extensions.bzl", "non_module_dependencies")
 use_repo(
@@ -64,6 +60,6 @@ pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
 pip.parse(
     hub_name = "rules_ros_pip_deps",
     python_version = "3.10",
-    requirements_lock = "@com_github_mvukov_rules_ros//:requirements_lock.txt",
+    requirements_lock = "@rules_ros//:requirements_lock.txt",
 )
 use_repo(pip, "rules_ros_pip_deps")

README.md

@@ -20,58 +20,7 @@ So far a subset of ros-base packages can be built, including support for
 - actions, and
 - dynamic reconfiguration.
 
-Here is an example.
-
-Let's begin with starting `roscore`:
-
-```sh
-bazel run //:roscore
-```
-
-In a separate terminal, let's start a (C++) talker node:
-
-```sh
-bazel run //examples/chatter:talker
-```
-
-This single command will compile and run the talker node.
-
-In a yet another terminal we can start a listener node:
-
-```sh
-bazel run //examples/chatter:listener  # C++ version or
-bazel run //examples/chatter:py_listener  # Python version
-```
-
-Rosbag recording & playing works as well:
-
-```sh
-bazel run //:rosbag_record -- /chatter -o /tmp/foo.bag  # to record a bag or
-bazel run //:rosbag_play -- /tmp/foo_<timestamp>.bag  # to play a bag
-```
-
-`rostopic`, tied to this example (see `examples/chatter/BUILD.bazel` for more
-info) can be used as
-
-```sh
-bazel run //examples/chatter:rostopic -- echo /chatter
-```
-
-Not too shabby.
-
-Next, let's start a deployment with the talker and the listener nodes. You can
-stop the nodes you started with the above commands. Now execute
-
-```sh
-bazel run //examples/chatter:chatter
-```
-
-This command will build the necessary nodes and launch them. This is similar
-to executing good-ol' `roslaunch`, but, running the chatter `ros_launch` target
-using Bazel ensures all necessary dependencies are (re-)built.
-
-In `//examples/dishwasher` you can find another example that demonstrates
-defining and usage of ROS actions (and actionlib).
+Please take a look at the [examples](examples) folder to get started.
 
 ## Background and design decisions
 

examples/.bazelrc

@@ -0,0 +1 @@
+../.bazelrc

examples/BUILD.bazel

@@ -0,0 +1,31 @@
+# The following aliases are defined for convenience.
+
+alias(
+    name = "roscore",
+    actual = "@rules_ros//third_party/ros/roslaunch:roscore",
+)
+
+alias(
+    name = "rosgraph",
+    actual = "@ros_comm//:rosgraph",
+)
+
+alias(
+    name = "rosparam",
+    actual = "@ros_comm//:rosparam",
+)
+
+alias(
+    name = "rosbag_record",
+    actual = "@ros_comm//:rosbag_record",
+)
+
+alias(
+    name = "rosbag_play",
+    actual = "@ros_comm//:rosbag_play",
+)
+
+alias(
+    name = "rosservice",
+    actual = "@rules_ros//third_party/ros/rosservice",
+)

examples/MODULE.bazel

@@ -0,0 +1,57 @@
+module(name = "rules_ros_examples")
+
+bazel_dep(name = "rules_python", version = "0.34.0")
+
+# This import is relevant for these examples and this (rules_ros) repository.
+bazel_dep(name = "rules_ros")
+local_path_override(
+    module_name = "rules_ros",
+    path = "..",
+)
+
+# In a normal workflow, you would typically import rules_ros into your
+# (mono)repo as follows:
+# bazel_dep(name = "rules_ros")
+# archive_override(
+#     module_name = "rules_ros",
+#     integrity = "sha256-<integrity sum of the .tar.gz archive below>",
+#     strip_prefix = "rules_ros-<git commit SHA>",
+#     urls = "https://github.com/mvukov/rules_ros/archive/<git commit SHA>.tar.gz"
+# )
+
+non_module_ros_repositories = use_extension("@rules_ros//ros:extensions.bzl", "non_module_dependencies")
+use_repo(
+    non_module_ros_repositories,
+    "console_bridge",
+    "orocos_kdl",
+    "ros_actionlib",
+    "ros_comm",
+    "ros_comm_msgs",
+    "ros_common_msgs",
+    "ros_dynamic_reconfigure",
+    "ros_gencpp",
+    "ros_genmsg",
+    "ros_genpy",
+    "ros_geometry2",
+    "ros_ros",
+    "ros_std_msgs",
+    "rosconsole",
+    "roscpp_core",
+    "tinyxml",
+    "urdfdom",
+    "urdfdom_headers",
+)
+
+bazel_dep(name = "rules_boost")
+archive_override(
+    module_name = "rules_boost",
+    integrity = "sha256-I1iTdF3qckTmDRab+0yjA37Iya9AOGvEGJVoPtfpADM=",
+    strip_prefix = "rules_boost-42d8155d8f20a1aee8ee20b7903a495bdfb9befd",
+    urls = "https://github.com/nelhage/rules_boost/archive/42d8155d8f20a1aee8ee20b7903a495bdfb9befd.zip",
+)
+
+non_module_boost_repositories = use_extension("@rules_boost//:boost/repositories.bzl", "non_module_dependencies")
+use_repo(
+    non_module_boost_repositories,
+    "boost",
+)

examples/README.md

@@ -0,0 +1,19 @@
+# Examples for rules_ros
+
+This folder provides some examples and guidelines on how you can use this repo
+in your very own (mono)repo. It's important to note here that this folder is
+a yet another Bazel module (it has a MODULE.bazel file). Please take a look at
+the module file to get an idea how to set up yourself.
+
+Besides setting up your module file, please make sure you copy the `.bazelrc`
+file as well to your monorepo -- or at least adjust your own using the provided
+one.
+
+Before you build/run/test any of the targets in this folder, please make sure
+your terminal is in this folder, or in a subfolder, and not in the root
+of the repo.
+
+You can start with a simple [chatter](chatter) example.
+
+In `dishwasher` folder you can find another example that demonstrates
+defining and usage of ROS actions (and actionlib).

examples/chatter/BUILD.bazel

@@ -8,16 +8,17 @@
 """
 
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//ros:cc_defs.bzl", "cc_ros_binary")
+load("@rules_ros//ros:cc_defs.bzl", "cc_ros_binary")
 load(
-    "//ros:interfaces.bzl",
+    "@rules_ros//ros:interfaces.bzl",
     "cc_ros_interface_library",
     "py_ros_interface_library",
     "ros_interface_library",
 )
-load("//ros:launch.bzl", "ros_launch")
-load("//ros:test.bzl", "ros_test")
-load("//ros:topic.bzl", "ros_topic")
+load("@rules_ros//ros:launch.bzl", "ros_launch")
+load("@rules_ros//ros:test.bzl", "ros_test")
+load("@rules_ros//ros:topic.bzl", "ros_topic")
+load("@rules_ros//third_party:expand_template.bzl", "expand_template")
 
 # Handling of ROS messages & services resembles to some extent Bazel's rules for
 # handling protobuf messages (e.g. proto_library and cc_proto_library).
@@ -61,11 +62,27 @@ ros_test(
     launch_file = "talker_tests.launch",
     nodes = [
         ":talker",
-        "//third_party/ros/rostest:advertisetest",
-        "//third_party/ros/rostest:publishtest",
+        "@rules_ros//third_party/ros/rostest:advertisetest",
+        "@rules_ros//third_party/ros/rostest:publishtest",
     ],
 )
 
+expand_template(
+    name = "talker_tests_launch",
+    out = "talker_tests.launch",
+    data = [
+        ":talker",
+        "@rules_ros//third_party/ros/rostest:advertisetest",
+        "@rules_ros//third_party/ros/rostest:publishtest",
+    ],
+    substitutions = {
+        "{talker}": "$(rootpath :talker)",
+        "{advertisetest}": "$(rootpath @rules_ros//third_party/ros/rostest:advertisetest)",
+        "{publishtest}": "$(rootpath @rules_ros//third_party/ros/rostest:publishtest)",
+    },
+    template = "talker_tests.launch.tpl",
+)
+
 # Defines a C++ listener ROS node.
 cc_ros_binary(
     name = "listener",

examples/chatter/README.md

@@ -0,0 +1,48 @@
+# A chatter example
+
+Let's begin with starting `roscore`:
+
+```sh
+bazel run //:roscore
+```
+
+In a separate terminal, let's start a (C++) talker node:
+
+```sh
+bazel run //chatter:talker
+```
+
+This single command will compile and run the talker node.
+
+In a yet another terminal we can start a listener node:
+
+```sh
+bazel run //chatter:listener  # C++ version or
+bazel run //chatter:py_listener  # Python version
+```
+
+Rosbag recording & playing works as well:
+
+```sh
+bazel run //:rosbag_record -- /chatter -o /tmp/foo.bag  # to record a bag or
+bazel run //:rosbag_play -- /tmp/foo_<timestamp>.bag  # to play a bag
+```
+
+`rostopic`, tied to this example (see `BUILD.bazel` for more info) can be used as
+
+```sh
+bazel run //chatter:rostopic -- echo /chatter
+```
+
+Not too shabby.
+
+Next, let's start a deployment with the talker and the listener nodes. You can
+stop the nodes you started with the above commands. Now execute
+
+```sh
+bazel run //chatter:chatter
+```
+
+This command will build the necessary nodes and launch them. This is similar
+to executing good-ol' `roslaunch`, but, running the chatter `ros_launch` target
+using Bazel ensures all necessary dependencies are (re-)built.

examples/chatter/chatter.launch

@@ -1,4 +1,4 @@
 <launch>
-  <node type="examples/chatter/talker" name="talker" />
-  <node type="examples/chatter/listener" name="listener" output="screen" />
+  <node type="chatter/talker" name="talker" />
+  <node type="chatter/listener" name="listener" output="screen" />
 </launch>