From 11dfa28c33f7c59aa8727765a68adf44d9701220 Mon Sep 17 00:00:00 2001
From: Finn Ball <finn.ball@codifcasolutions.com>
Date: Tue, 28 May 2024 11:14:46 +0100
Subject: [PATCH] feat: generate filepaths for rosout and rosmaster

---
 third_party/ros/roslaunch/BUILD.bazel | 35 +++++++++++++++++++++------
 third_party/ros/roslaunch/deps.py.tpl |  2 --
 third_party/ros/roslaunch/roscore.xml |  5 ----
 3 files changed, 28 insertions(+), 14 deletions(-)
 delete mode 100644 third_party/ros/roslaunch/deps.py.tpl
 delete mode 100644 third_party/ros/roslaunch/roscore.xml

diff --git a/third_party/ros/roslaunch/BUILD.bazel b/third_party/ros/roslaunch/BUILD.bazel
index e81e956..7a96701 100644
--- a/third_party/ros/roslaunch/BUILD.bazel
+++ b/third_party/ros/roslaunch/BUILD.bazel
@@ -1,21 +1,42 @@
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 load("@rules_ros_pip_deps//:requirements.bzl", "requirement")
 load("//build_tools:pylint.bzl", "pylint")
-load("//third_party:expand_template.bzl", "expand_template")
 
-expand_template(
+genrule(
     name = "deps",
-    out = "deps.py",
-    data = ["roscore.xml"],
-    substitutions = {"{roscore_xml_path}": "$(rootpath roscore.xml)"},
-    template = "deps.py.tpl",
+    outs = ["deps.py"],
+    cmd = """
+ROSMASTER=($(rootpaths @ros_comm//:rosmaster))
+cat <<EOF > $@
+ROSMASTER_PATH = '$${ROSMASTER}'
+ROSCORE_XML_PATH = '$(rootpath roscore.xml)'
+EOF""",
+    srcs = [
+        "roscore.xml",
+        "@ros_comm//:rosmaster",
+    ],
+)
+
+genrule(
+    name = "roscore_xml",
+    outs = ["roscore.xml"],
+    cmd = """
+ROS_COMM=$(rootpaths @ros_comm//:rosout)
+cat <<EOF > $@
+<launch>
+  <group ns="/">
+    <node type="$${ROS_COMM}" name="rosout" respawn="true"/>
+  </group>
+</launch>
+EOF""",
+    srcs = ["@ros_comm//:rosout"],
 )
 
 py_library(
     name = "roslaunch",
     srcs = glob(["*.py"]) + [":deps"],
     data = [
-        "roscore.xml",
+        ":roscore_xml",
         "@ros_comm//:rosmaster",
         "@ros_comm//:rosout",
     ],
diff --git a/third_party/ros/roslaunch/deps.py.tpl b/third_party/ros/roslaunch/deps.py.tpl
deleted file mode 100644
index 91a26a6..0000000
--- a/third_party/ros/roslaunch/deps.py.tpl
+++ /dev/null
@@ -1,2 +0,0 @@
-ROSMASTER_PATH = 'external/ros_comm/rosmaster'
-ROSCORE_XML_PATH = '{roscore_xml_path}'
diff --git a/third_party/ros/roslaunch/roscore.xml b/third_party/ros/roslaunch/roscore.xml
deleted file mode 100644
index ce53272..0000000
--- a/third_party/ros/roslaunch/roscore.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <group ns="/">
-    <node type="external/ros_comm/rosout" name="rosout" respawn="true"/>
-  </group>
-</launch>