Switched from rmw_fastrtps_cpp to rmw_fastrtps_dynamic_cpp

.bazelrc

@@ -32,7 +32,7 @@ build:clang --linkopt="-fuse-ld=lld"
 
 # CycloneDDS is used as DDS vendor in the ROS Middleware by default in this repo.
 # To use FastDDS, invoke Bazel with `--config=fastdds`.
-build:fastdds --@ros2_rmw_implementation//:dds_vendor=fastdds
+build:fastdds --//ros2:dds_vendor=fastdds
 
 # Load any settings specific to the current user.
 # user.bazelrc should appear in .gitignore so that settings are not shared with

.github/workflows/main.yml

@@ -45,22 +45,11 @@ jobs:
         toolchain:
           - "gcc"
           - "clang"
-        dds_vendor:
-          - "cyclonedds"
-          - "fastdds"
         include:
           - toolchain: "gcc"
-            dds_vendor: "cyclonedds"
             config_option: ""
           - toolchain: "clang"
-            dds_vendor: "cyclonedds"
             config_option: "--config=clang"
-          - toolchain: "gcc"
-            dds_vendor: "fastdds"
-            config_option: "--config=fastdds"
-          - toolchain: "clang"
-            dds_vendor: "fastdds"
-            config_option: "--config=clang --config=fastdds"
 
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it

repositories/rmw_fastrtps.BUILD.bazel

@@ -27,22 +27,22 @@ ros2_cpp_library(
     ],
 )
 
-
 ros2_cpp_binary(
-    name = "rmw_fastrtps",
+    name = "rmw_fastrtps_dynamic_cpp",
     srcs = glob([
-        "rmw_fastrtps_cpp/include/**/*.h",
-        "rmw_fastrtps_cpp/include/**/*.hpp",
-        "rmw_fastrtps_cpp/src/*.cpp",
-        "rmw_fastrtps_cpp/src/*.hpp",
+        "rmw_fastrtps_dynamic_cpp/include/**/*.h",
+        "rmw_fastrtps_dynamic_cpp/include/**/*.hpp",
+        "rmw_fastrtps_dynamic_cpp/src/*.cpp",
+        "rmw_fastrtps_dynamic_cpp/src/*.hpp",
     ]),
     copts = ["-fvisibility=hidden"],
-    includes = ["rmw_fastrtps_cpp/include"],
+    includes = ["rmw_fastrtps_dynamic_cpp/include"],
     linkopts = ["-fvisibility=hidden"],
     linkshared = True,
     visibility = ["//visibility:public"],
     deps = [
         ":rmw_fastrtps_shared_cpp",
+        "@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_c",
         "@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_cpp",
     ],
 )

repositories/rmw_implementation.BUILD.bazel

@@ -1,28 +1,8 @@
 """ Builds rmw_implementation.
 """
 
-load("@bazel_skylib//lib:selects.bzl", "selects")
-load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
 load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_library")
 
-string_flag(
-    name = "dds_vendor",
-    build_setting_default = "cyclonedds",
-    values = ["cyclonedds", "fastdds"],
-)
-
-config_setting(
-    name = "use_cyclonedds",
-    flag_values = {":dds_vendor": "cyclonedds"},
-    visibility = ["//visibility:public"],
-)
-
-config_setting(
-    name = "use_fastdds",
-    flag_values = {":dds_vendor": "fastdds"},
-    visibility = ["//visibility:public"],
-)
-
 ros2_cpp_library(
     name = "rmw_implementation",
     srcs = [
@@ -33,16 +13,16 @@ ros2_cpp_library(
     copts = ["-w"],
     data = select(
         {
-            ":use_cyclonedds": ["@ros2_rmw_cyclonedds//:rmw_cyclonedds"],
-            ":use_fastdds": ["@ros2_rmw_fastrtps//:rmw_fastrtps"],
+            "@com_github_mvukov_rules_ros2//ros2:use_cyclonedds": ["@ros2_rmw_cyclonedds//:rmw_cyclonedds"],
+            "@com_github_mvukov_rules_ros2//ros2:use_fastdds": ["@ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp"],
         },
         no_match_error = "Unsupported dds vendor",
     ),
     includes = ["include"],
     local_defines = select(
         {
-            ":use_cyclonedds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_cyclonedds//:rmw_cyclonedds)\\\""],
-            ":use_fastdds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_fastrtps//:rmw_fastrtps)\\\""],
+            "@com_github_mvukov_rules_ros2//ros2:use_cyclonedds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_cyclonedds//:rmw_cyclonedds)\\\""],
+            "@com_github_mvukov_rules_ros2//ros2:use_fastdds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp)\\\""],
         },
         no_match_error = "Unsupported dds vendor",
     ),

ros2/BUILD.bazel

@@ -1,6 +1,8 @@
 """ ROS 2 common definitions.
 """
 
+load("@bazel_skylib//lib:selects.bzl", "selects")
+load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 
 exports_files([
@@ -64,3 +66,22 @@ py_binary(
         "@ros2cli//:ros2lifecycle",
     ],
 )
+
+# DDS vendor settings
+string_flag(
+    name = "dds_vendor",
+    build_setting_default = "cyclonedds",
+    values = ["cyclonedds", "fastdds"],
+)
+
+config_setting(
+    name = "use_cyclonedds",
+    flag_values = {":dds_vendor": "cyclonedds"},
+    visibility = ["//visibility:public"],
+)
+
+config_setting(
+    name = "use_fastdds",
+    flag_values = {":dds_vendor": "fastdds"},
+    visibility = ["//visibility:public"],
+)

ros2/interfaces.bzl

@@ -264,11 +264,6 @@ _INTERFACE_GENERATOR_C_OUTPUT_MAPPING = [
 
 _TYPESUPPORT_GENERATOR_C_OUTPUT_MAPPING = ["%s__type_support.c"]
 
-_TYPESUPPORT_FASTRTPS_GENERATOR_C_OUTPUT_MAPPING = [
-    "fastrtps/%s__rosidl_typesupport_fastrtps_c.h",
-    "fastrtps/%s__type_support_c.cpp",
-]
-
 _TYPESUPPORT_INTROSPECION_GENERATOR_C_OUTPUT_MAPPING = [
     "detail/%s__rosidl_typesupport_introspection_c.h",
     "detail/%s__type_support.c",
@@ -395,26 +390,14 @@ def _c_generator_aspect_impl(target, ctx):
         _TYPESUPPORT_GENERATOR_C_OUTPUT_MAPPING,
         visibility_control_template = ctx.file._typesupport_introspection_visibility_control_template,
         extra_generator_args = [
-            # TODO(mvukov) There are also rosidl_typesupport_connext_c
+            # TODO(mvukov) There are also rosidl_typesupport_connext_c and
+            # rosidl_typesupport_fastrtps_c.
             "--typesupports=rosidl_typesupport_introspection_c",
-            "--typesupports=rosidl_typesupport_fastrtps_c",
         ],
         mnemonic = "Ros2IdlTypeSupportC",
         progress_message = "Generating C type support for %{label}",
     )
 
-    typesupport_fastrtps_outputs, _ = _run_generator(
-        ctx,
-        srcs,
-        package_name,
-        adapter,
-        ctx.executable._typesupport_fastrtps_generator,
-        ctx.attr._typesupport_fastrtps_templates,
-        _TYPESUPPORT_FASTRTPS_GENERATOR_C_OUTPUT_MAPPING,
-        mnemonic = "Ros2IdlTypeSupportFastrtpsC",
-        progress_message = "Generating C type fastrtps support for %{label}",
-    )
-
     typesupport_introspection_outputs, _ = _run_generator(
         ctx,
         srcs,
@@ -428,12 +411,7 @@ def _c_generator_aspect_impl(target, ctx):
         progress_message = "Generating C type introspection support for %{label}",
     )
 
-    all_outputs = (
-        interface_outputs
-        + typesupport_outputs
-        + typesupport_fastrtps_outputs
-        + typesupport_introspection_outputs
-    )
+    all_outputs = interface_outputs + typesupport_outputs + typesupport_introspection_outputs
     hdrs = _get_hdrs(all_outputs)
     srcs = _get_srcs(all_outputs)
 
@@ -476,14 +454,6 @@ c_generator_aspect = aspect(
         "_typesupport_templates": attr.label(
             default = Label("@ros2_rosidl_typesupport//:rosidl_typesupport_generator_c_templates"),
         ),
-        "_typesupport_fastrtps_generator": attr.label(
-            default = Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_generator_c_app"),
-            executable = True,
-            cfg = "exec",
-        ),
-        "_typesupport_fastrtps_templates": attr.label(
-            default = Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_generator_c_templates"),
-        ),
         "_typesupport_introspection_generator": attr.label(
             default = Label("@ros2_rosidl//:rosidl_typesupport_introspection_generator_c"),
             executable = True,
@@ -504,7 +474,6 @@ c_generator_aspect = aspect(
                 Label("@ros2_rosidl//:rosidl_runtime_c"),
                 Label("@ros2_rosidl//:rosidl_typesupport_introspection_c"),
                 Label("@ros2_rosidl_typesupport//:rosidl_typesupport_c"),
-                Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_c"),
             ],
             providers = [CcInfo],
         ),
@@ -555,11 +524,6 @@ _TYPESUPPORT_GENERATOR_CPP_OUTPUT_MAPPING = [
     "%s__type_support.cpp",
 ]
 
-_TYPESUPPORT_FASTRTPS_GENERATOR_CPP_OUTPUT_MAPPING = [
-    "fastrtps/%s__rosidl_typesupport_fastrtps_cpp.hpp",
-    "fastrtps/%s__type_support.cpp",
-]
-
 _TYPESUPPORT_INTROSPECION_GENERATOR_CPP_OUTPUT_MAPPING = [
     "detail/%s__rosidl_typesupport_introspection_cpp.hpp",
     "detail/%s__type_support.cpp",
@@ -591,26 +555,14 @@ def _cpp_generator_aspect_impl(target, ctx):
         ctx.attr._typesupport_templates,
         _TYPESUPPORT_GENERATOR_CPP_OUTPUT_MAPPING,
         extra_generator_args = [
-            # TODO(mvukov) There are also rosidl_typesupport_connext_cpp
+            # TODO(mvukov) There are also rosidl_typesupport_connext_cpp and
+            # rosidl_typesupport_fastrtps_cpp.
             "--typesupports=rosidl_typesupport_introspection_cpp",
-            "--typesupports=rosidl_typesupport_fastrtps_cpp",
         ],
         mnemonic = "Ros2IdlTypeSupportCpp",
         progress_message = "Generating C++ type support for %{label}",
     )
 
-    typesupport_fastrtps_outputs, _ = _run_generator(
-        ctx,
-        srcs,
-        package_name,
-        adapter,
-        ctx.executable._typesupport_fastrtps_generator,
-        ctx.attr._typesupport_fastrtps_templates,
-        _TYPESUPPORT_FASTRTPS_GENERATOR_CPP_OUTPUT_MAPPING,
-        mnemonic = "Ros2IdlTypeSupportFastrtpsCpp",
-        progress_message = "Generating C++ type fastrtps support for %{label}",
-    )
-
     typesupport_introspection_outputs, _ = _run_generator(
         ctx,
         srcs,
@@ -623,12 +575,7 @@ def _cpp_generator_aspect_impl(target, ctx):
         progress_message = "Generating C++ type introspection support for %{label}",
     )
 
-    all_outputs = (
-        interface_outputs
-        + typesupport_outputs
-        + typesupport_fastrtps_outputs
-        + typesupport_introspection_outputs
-    )
+    all_outputs = interface_outputs + typesupport_outputs + typesupport_introspection_outputs
     hdrs = _get_hdrs(all_outputs)
     srcs = _get_srcs(all_outputs)
 
@@ -670,14 +617,6 @@ cpp_generator_aspect = aspect(
         "_typesupport_templates": attr.label(
             default = Label("@ros2_rosidl_typesupport//:rosidl_typesupport_generator_cpp_templates"),
         ),
-        "_typesupport_fastrtps_generator": attr.label(
-            default = Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_generator_cpp_app"),
-            executable = True,
-            cfg = "exec",
-        ),
-        "_typesupport_fastrtps_templates": attr.label(
-            default = Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_generator_cpp_templates"),
-        ),
         "_typesupport_introspection_generator": attr.label(
             default = Label("@ros2_rosidl//:rosidl_typesupport_introspection_generator_cpp"),
             executable = True,
@@ -695,8 +634,6 @@ cpp_generator_aspect = aspect(
                 Label("@ros2_rosidl//:rosidl_typesupport_introspection_c"),
                 Label("@ros2_rosidl//:rosidl_typesupport_introspection_cpp"),
                 Label("@ros2_rosidl_typesupport//:rosidl_typesupport_cpp"),
-                Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_c"),
-                Label("@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_cpp"),
             ],
             providers = [CcInfo],
         ),