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feat: generate filepaths for rosout and rosmaster #18

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merged 2 commits into from
Jun 16, 2024
Merged

feat: generate filepaths for rosout and rosmaster #18

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11dfa28
feat: generate filepaths for rosout and rosmaster
May 28, 2024
7a500ce
Merge branch 'main' of github.com:mvukov/rules_ros into finn/gen-paths
mvukov Jun 16, 2024
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35 changes: 28 additions & 7 deletions third_party/ros/roslaunch/BUILD.bazel
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Original file line number Diff line number Diff line change
@@ -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))
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Hacky solution IMO, it would be cleaner to go with a symlink as I originally proposed. Right now this is fine, but the contents of $(rootpaths @ros_comm//:rosmaster) could change and then this could break. To be fixed when needed.

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",
],
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2 changes: 0 additions & 2 deletions third_party/ros/roslaunch/deps.py.tpl
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5 changes: 0 additions & 5 deletions third_party/ros/roslaunch/roscore.xml
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