feat: port to 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

.gitignore

@@ -2,4 +2,4 @@
 bazel-*
 __pycache__
 user.bazelrc
-MODULE.bazel*
+MODULE.bazel.lock

MODULE.bazel

@@ -0,0 +1,69 @@
+module(
+    name = "rules_ros",
+    repo_name = "com_github_mvukov_rules_ros",
+)
+
+bazel_dep(name = "bazel_skylib", version = "1.7.1")
+bazel_dep(name = "bzip2", version = "1.0.8.bcr.1")
+bazel_dep(name = "eigen", version = "3.4.0.bcr.1")
+bazel_dep(name = "gflags", version = "2.2.2")
+bazel_dep(name = "glog", version = "0.7.0")
+bazel_dep(name = "googletest", version = "1.14.0.bcr.1")
+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 = "0.10.1")
+
+bazel_dep(name = "rules_python", version = "0.33.1", dev_dependency = True)
+
+non_module_ros_repositories = use_extension("//extensions:ros_repositories.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",
+)
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(
+    is_default = True,
+    python_version = "3.10",
+)
+use_repo(python, "python_3_10", "python_versions")
+
+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",
+)
+use_repo(pip, "rules_ros_pip_deps")

extensions/ros_repositories.bzl

@@ -0,0 +1,8 @@
+load("//repositories:repositories.bzl", "ros_repositories")
+
+def _non_module_dependencies_impl(_ctx):
+    ros_repositories()
+
+non_module_dependencies = module_extension(
+    implementation = _non_module_dependencies_impl,
+)

repositories/repositories.bzl

@@ -7,60 +7,6 @@ load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 def ros_repositories():
     """Imports external/third-party repositories.
     """
-    maybe(
-        http_archive,
-        name = "rules_python",
-        sha256 = "4912ced70dc1a2a8e4b86cec233b192ca053e82bc72d877b98e126156e8f228d",
-        strip_prefix = "rules_python-0.32.2",
-        url = "https://github.com/bazelbuild/rules_python/archive/refs/tags/0.32.2.tar.gz",
-    )
-
-    maybe(
-        http_archive,
-        name = "bazel_skylib",
-        urls = ["https://github.com/bazelbuild/bazel-skylib/releases/download/1.5.0/bazel-skylib-1.5.0.tar.gz"],
-        sha256 = "cd55a062e763b9349921f0f5db8c3933288dc8ba4f76dd9416aac68acee3cb94",
-    )
-
-    maybe(
-        http_archive,
-        name = "com_github_gflags_gflags",
-        sha256 = "34af2f15cf7367513b352bdcd2493ab14ce43692d2dcd9dfc499492966c64dcf",
-        strip_prefix = "gflags-2.2.2",
-        urls = ["https://github.com/gflags/gflags/archive/v2.2.2.tar.gz"],
-    )
-
-    maybe(
-        http_archive,
-        name = "com_github_google_glog",
-        sha256 = "62efeb57ff70db9ea2129a16d0f908941e355d09d6d83c9f7b18557c0a7ab59e",
-        strip_prefix = "glog-d516278b1cd33cd148e8989aec488b6049a4ca0b",
-        urls = ["https://github.com/google/glog/archive/d516278b1cd33cd148e8989aec488b6049a4ca0b.zip"],
-    )
-
-    maybe(
-        http_archive,
-        name = "googletest",
-        sha256 = "8ad598c73ad796e0d8280b082cebd82a630d73e73cd3c70057938a6501bba5d7",
-        strip_prefix = "googletest-1.14.0",
-        url = "https://github.com/google/googletest/archive/refs/tags/v1.14.0.tar.gz",
-    )
-
-    maybe(
-        http_archive,
-        name = "rules_foreign_cc",
-        sha256 = "476303bd0f1b04cc311fc258f1708a5f6ef82d3091e53fd1977fa20383425a6a",
-        strip_prefix = "rules_foreign_cc-0.10.1",
-        url = "https://github.com/bazelbuild/rules_foreign_cc/archive/refs/tags/0.10.1.tar.gz",
-    )
-
-    maybe(
-        http_archive,
-        name = "com_github_nelhage_rules_boost",
-        sha256 = "90028713d869769d49a9f26a57e89e9f0e83cc0edc1208727aecf0e3ee094967",
-        strip_prefix = "rules_boost-f621ad7bec2abf5a597ed1271fd823d2761943b2",
-        urls = ["https://github.com/nelhage/rules_boost/archive/f621ad7bec2abf5a597ed1271fd823d2761943b2.zip"],
-    )
 
     maybe(
         http_archive,
@@ -134,24 +80,6 @@ def ros_repositories():
         urls = ["https://github.com/ros/ros_comm_msgs/archive/1.11.3.tar.gz"],
     )
 
-    maybe(
-        http_archive,
-        name = "lz4",
-        build_file = "@com_github_mvukov_rules_ros//repositories:lz4.BUILD.bazel",
-        sha256 = "030644df4611007ff7dc962d981f390361e6c97a34e5cbc393ddfbe019ffe2c1",
-        strip_prefix = "lz4-1.9.3",
-        urls = ["https://github.com/lz4/lz4/archive/v1.9.3.tar.gz"],
-    )
-
-    maybe(
-        http_archive,
-        name = "bzip2",
-        build_file = "@com_github_mvukov_rules_ros//repositories:bzip2.BUILD.bazel",
-        sha256 = "ab5a03176ee106d3f0fa90e381da478ddae405918153cca248e682cd0c4a2269",
-        strip_prefix = "bzip2-1.0.8",
-        urls = ["https://sourceware.org/pub/bzip2/bzip2-1.0.8.tar.gz"],
-    )
-
     # Branched off ros_comm 1.15.9. Changes are in branch feature/rules_ros.
     maybe(
         http_archive,
@@ -200,15 +128,6 @@ def ros_repositories():
 
     ############################################################################
 
-    maybe(
-        http_archive,
-        name = "eigen",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:eigen.BUILD.bazel",
-        sha256 = "8586084f71f9bde545ee7fa6d00288b264a2b7ac3607b974e54d13e7162c1c72",
-        strip_prefix = "eigen-3.4.0",
-        urls = ["https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz"],
-    )
-
     maybe(
         http_archive,
         name = "ros_geometry2",

repositories/ros_comm.BUILD.bazel

@@ -255,7 +255,7 @@ cc_ros_library(
         ":roslz4",
         "@boost//:filesystem",
         "@boost//:format",
-        "@bzip2",
+        "@bzip2//:bz2",
         "@console_bridge",
         "@roscpp_core//:roscpp_serialization",
         "@roscpp_core//:roscpp_traits",

repositories/rosconsole.BUILD.bazel

@@ -17,7 +17,7 @@ cc_ros_library(
         "@boost//:regex",
         "@boost//:system",
         "@boost//:thread",
-        "@com_github_google_glog//:glog",
+        "@glog",
         "@roscpp_core//:cpp_common",
         "@roscpp_core//:rostime",
     ],

third_party/ros/roslaunch/BUILD.bazel

@@ -4,21 +4,22 @@ load("//build_tools:pylint.bzl", "pylint")
 
 genrule(
     name = "deps",
+    srcs = [
+        "roscore.xml",
+        "@ros_comm//:rosmaster",
+    ],
     outs = ["deps.py"],
     cmd = """
 ROSMASTER=($(rootpaths @ros_comm//:rosmaster))
 cat <<EOF > $@
 ROSMASTER_PATH = '$${ROSMASTER}'
 ROSCORE_XML_PATH = '$(rootpath roscore.xml)'
 EOF""",
-    srcs = [
-        "roscore.xml",
-        "@ros_comm//:rosmaster",
-    ],
 )
 
 genrule(
     name = "roscore_xml",
+    srcs = ["@ros_comm//:rosout"],
     outs = ["roscore.xml"],
     cmd = """
 ROS_COMM=$(rootpaths @ros_comm//:rosout)
@@ -29,7 +30,6 @@ cat <<EOF > $@
   </group>
 </launch>
 EOF""",
-    srcs = ["@ros_comm//:rosout"],
 )
 
 py_library(