RobotLocomotion · EricCousineau-TRI · May 13, 2024 · May 13, 2024 · May 13, 2024 · May 13, 2024
diff --git a/.lint/.bazeliskrc b/.lint/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/.lint/.bazelrc b/.lint/.bazelrc
@@ -0,0 +1,2 @@
+# Import base-level build configuration.
+import %workspace%/../default.bazelrc
diff --git a/bazel_ros2_rules/.bazeliskrc b/bazel_ros2_rules/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/bazel_ros2_rules/ros2/resources/ros2bzl/templates.py b/bazel_ros2_rules/ros2/resources/ros2bzl/templates.py
@@ -104,6 +104,7 @@ def configure_package_cc_library(
         data.append(share_label(name, metadata))
     # Add in plugins, if any
     if 'plugin_libraries' in metadata:
+        print(name)
         data.extend(
             sandbox(find_library_path(library))
             for library in metadata['plugin_libraries']

diff --git a/bazel_ros2_rules/setup/install_prereqs.sh b/bazel_ros2_rules/setup/install_prereqs.sh
@@ -50,10 +50,12 @@ function dpkg_install_from_curl() {
 
 apt install g++ unzip zlib1g-dev
 
+# TODO(eric.cousineau) Once there's a bazelisk 1.20 that incorporates pr563, we
+# should switch to using that here.
 dpkg_install_from_curl \
-  bazel 6.4.0 \
-  https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
-  9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
+  bazelisk 1.19.0 \
+  https://drake-mirror.csail.mit.edu/github/bazelbuild/bazelisk/pr563/bazelisk_1.19.0-9-g58a850f_amd64.deb \
+  c2bfd15d6c3422ae540cda9facc0ac395005e2701c09dbb15d40447b53e831d4
 
 # Install Python dependencies
 apt install python3 python3-toposort python3-dev python-is-python3
diff --git a/default.bazelrc b/default.bazelrc
@@ -1,3 +1,6 @@
+# Don't use bzlmod (yet); eventually we'll want to enable this.
+common --enable_bzlmod=false
+
 # Use C++20.
 build --cxxopt=-std=c++20
 build --host_cxxopt=-std=c++20

diff --git a/drake_ros/.bazeliskrc b/drake_ros/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/drake_ros_examples/.bazeliskrc b/drake_ros_examples/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/ros2_example_bazel_installed/.bazeliskrc b/ros2_example_bazel_installed/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/ros2_example_bazel_installed/WORKSPACE b/ros2_example_bazel_installed/WORKSPACE
@@ -65,24 +65,9 @@ load(
     "ROS2_DISTRO_PREFIX",
 )
 
-# Please keep this list sorted
+# HACK
 ROS2_PACKAGES = [
-    "action_msgs",
-    "builtin_interfaces",
-    "console_bridge_vendor",
-    "rclcpp",
-    "rclcpp_action",
-    "rclpy",
-    "ros2cli",
-    "ros2cli_common_extensions",
-    "rosbag2",
-    "rosidl_default_generators",
-    "tf2_py",
-] + [
-    # These are possible RMW implementations. Uncomment one and only one to
-    # change implementations
-    "rmw_cyclonedds_cpp",
-    # "rmw_fastrtps_cpp",
+    "rviz_default_plugins",
 ]
 
 RESOLVED_PREFIX = (

diff --git a/ros2_example_bazel_installed/setup/install_prereqs.sh b/ros2_example_bazel_installed/setup/install_prereqs.sh
@@ -58,11 +58,12 @@ function dpkg_install_from_curl() {
 
 apt install g++ unzip zlib1g-dev
 
-# TODO(sloretz) Make sure the version of bazel is exactly the same as the one used by Drake
+# TODO(eric.cousineau) Once there's a bazelisk 1.20 that incorporates pr563, we
+# should switch to using that here.
 dpkg_install_from_curl \
-  bazel 6.4.0 \
-  https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
-  9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
+  bazelisk 1.19.0 \
+  https://drake-mirror.csail.mit.edu/github/bazelbuild/bazelisk/pr563/bazelisk_1.19.0-9-g58a850f_amd64.deb \
+  c2bfd15d6c3422ae540cda9facc0ac395005e2701c09dbb15d40447b53e831d4
 
 # If the user did not explicitly specify their installation prefix, install
 # ROS 2 Humble.

diff --git a/ros2_example_bazel_installed/tools/environ.bzl b/ros2_example_bazel_installed/tools/environ.bzl
@@ -1,31 +1,46 @@
-# -*- python -*-
+# -*- mode: python -*-
+# vi: set ft=python :
 
-def _environment_repository_impl(repo_ctx):
-    environ = {
-        envvar: repo_ctx.os.environ.get(envvar, "")
-        for envvar in repo_ctx.attr._envvars
-    }
-    repo_ctx.file(
+# Write out a repository that contains:
+# - An empty BUILD file, to define a package.
+# - An environ.bzl file with variable assignments for each ENV_NAMES item.
+def _impl(repository_ctx):
+    envvars = repository_ctx.attr.envvars
+    bzl_content = []
+    for key in envvars:
+        value = repository_ctx.os.environ.get(key, "")
+        bzl_content.append("{}='{}'\n".format(key, value))
+    repository_ctx.file(
         "BUILD.bazel",
-        content = "# Empty build file to mark repository root.\n",
+        content = "\n",
         executable = False,
     )
-    repo_ctx.file(
+    repository_ctx.file(
         "environ.bzl",
-        content = "\n".join([
-            "{}=\"{}\"".format(name, value)
-            for name, value in environ.items()
-        ]),
+        content = "".join(bzl_content),
         executable = False,
     )
 
-def environment_repository(name, envvars):
+_string_list = attr.string_list()
+
+def environment_repository(name = None, envvars = []):
+    """Provide specific environment variables for use in a WORKSPACE file.
+    The `envvars` are the environment variables to provide.
+
+    Example:
+        environ_repository(name = "foo", envvars = ["BAR", "BAZ"])
+        load("@foo//:environ.bzl", "BAR", "BAZ")
+        print(BAR)
+    """
     rule = repository_rule(
+        implementation = _impl,
         attrs = {
-            "_envvars": attr.string_list(default = envvars),
+            "envvars": _string_list,
         },
-        implementation = _environment_repository_impl,
-        environ = envvars,
         local = True,
+        environ = envvars,
+    )
+    rule(
+        name = name,
+        envvars = envvars,
     )
-    rule(name = name)
diff --git a/tmp/print_ros_versions.output.txt b/tmp/print_ros_versions.output.txt
@@ -0,0 +1,211 @@
+1.2.1-1jammy.20240217.051433	ros-humble-action-msgs
+0.12.10-1jammy.20240217.025251	ros-humble-ament-clang-format
+1.3.8-1jammy.20240217.030113	ros-humble-ament-cmake
+0.12.10-1jammy.20240217.030009	ros-humble-ament-cmake-clang-format
+0.12.10-1jammy.20240217.025652	ros-humble-ament-cmake-copyright
+1.3.8-1jammy.20240217.022939	ros-humble-ament-cmake-core
+0.12.10-1jammy.20240217.030014	ros-humble-ament-cmake-cppcheck
+0.12.10-1jammy.20240217.030039	ros-humble-ament-cmake-cpplint
+1.3.8-1jammy.20240217.024211	ros-humble-ament-cmake-export-definitions
+1.3.8-1jammy.20240217.024313	ros-humble-ament-cmake-export-dependencies
+1.3.8-1jammy.20240217.024218	ros-humble-ament-cmake-export-include-directories
+1.3.8-1jammy.20240217.023903	ros-humble-ament-cmake-export-interfaces
+1.3.8-1jammy.20240217.023812	ros-humble-ament-cmake-export-libraries
+1.3.8-1jammy.20240217.024239	ros-humble-ament-cmake-export-link-flags
+1.3.8-1jammy.20240217.023910	ros-humble-ament-cmake-export-targets
+0.12.10-1jammy.20240217.030042	ros-humble-ament-cmake-flake8
+1.3.8-1jammy.20240217.024657	ros-humble-ament-cmake-gen-version-h
+1.3.8-1jammy.20240217.024747	ros-humble-ament-cmake-gmock
+1.3.8-1jammy.20240217.024621	ros-humble-ament-cmake-gtest
+1.3.8-1jammy.20240217.024240	ros-humble-ament-cmake-include-directories
+1.3.8-1jammy.20240217.024241	ros-humble-ament-cmake-libraries
+0.12.10-1jammy.20240217.025500	ros-humble-ament-cmake-lint-cmake
+0.12.10-1jammy.20240217.030058	ros-humble-ament-cmake-pep257
+0.12.10-1jammy.20240217.025934	ros-humble-ament-cmake-pycodestyle
+1.3.8-1jammy.20240217.024622	ros-humble-ament-cmake-pytest
+1.3.8-1jammy.20240217.024251	ros-humble-ament-cmake-python
+0.10.0-3jammy.20240217.035309	ros-humble-ament-cmake-ros
+1.3.8-1jammy.20240217.024316	ros-humble-ament-cmake-target-dependencies
+1.3.8-1jammy.20240217.024439	ros-humble-ament-cmake-test
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+1.3.0-1jammy.20240217.072808	ros-humble-rqt-graph
+1.1.7-1jammy.20240217.070503	ros-humble-rqt-gui
+1.1.7-1jammy.20240217.075044	ros-humble-rqt-gui-cpp
+1.1.7-1jammy.20240217.071740	ros-humble-rqt-gui-py
+1.2.0-2jammy.20240327.162754	ros-humble-rqt-image-view
+11.2.12-1jammy.20240327.154634	ros-humble-rviz-assimp-vendor
+11.2.12-1jammy.20240327.163723	ros-humble-rviz-common
+11.2.12-1jammy.20240327.170357	ros-humble-rviz-default-plugins
+11.2.12-1jammy.20240327.154701	ros-humble-rviz-ogre-vendor
+11.2.12-1jammy.20240327.162838	ros-humble-rviz-rendering
+11.2.12-1jammy.20240327.181147	ros-humble-rviz2
+3.3.0-1jammy.20240217.034442	ros-humble-sdl2-vendor
+4.2.3-1jammy.20240217.060543	ros-humble-sensor-msgs
+4.2.3-1jammy.20240217.061514	ros-humble-sensor-msgs-py
+0.15.9-1jammy.20240217.034446	ros-humble-shared-queues-vendor
+1.3.1-1jammy.20240217.040412	ros-humble-spdlog-vendor
+0.15.9-1jammy.20240217.034507	ros-humble-sqlite3-vendor
+0.10.4-2jammy.20240217.073631	ros-humble-sros2
+1.2.1-1jammy.20240217.051854	ros-humble-statistics-msgs
+4.2.3-1jammy.20240217.051453	ros-humble-std-msgs
+4.2.3-1jammy.20240217.050958	ros-humble-std-srvs
+0.1.1-3jammy.20240217.040417	ros-humble-tango-icons-vendor
+1.2.1-1jammy.20240217.052124	ros-humble-test-msgs
+0.25.6-1jammy.20240217.053651	ros-humble-tf2
+0.25.6-1jammy.20240217.083335	ros-humble-tf2-eigen
+0.25.6-1jammy.20240217.083342	ros-humble-tf2-geometry-msgs
+0.25.6-1jammy.20240217.053651	ros-humble-tf2-msgs
+0.25.6-1jammy.20240217.070501	ros-humble-tf2-py
+0.25.6-1jammy.20240217.082007	ros-humble-tf2-ros
+0.25.6-1jammy.20240217.071724	ros-humble-tf2-ros-py
+2.5.1-1jammy.20240415.140805	ros-humble-theora-image-transport
+0.8.3-2jammy.20240217.034604	ros-humble-tinyxml-vendor
+0.7.6-1jammy.20240217.034600	ros-humble-tinyxml2-vendor
+4.1.1-1jammy.20240217.035505	ros-humble-tracetools
+2.0.2-2jammy.20240217.034627	ros-humble-uncrustify-vendor
+2.2.1-3jammy.20240217.050949	ros-humble-unique-identifier-msgs
+2.6.0-2jammy.20240217.045512	ros-humble-urdf
+2.6.0-2jammy.20240217.035651	ros-humble-urdf-parser-plugin
+3.0.2-2jammy.20240217.035853	ros-humble-urdfdom
+1.0.6-2jammy.20240217.025702	ros-humble-urdfdom-headers
+4.2.3-1jammy.20240217.061533	ros-humble-visualization-msgs
+2.0.8-1jammy.20240217.032951	ros-humble-xacro
+8.0.2-1jammy.20240217.034717	ros-humble-yaml-cpp-vendor
+0.15.9-1jammy.20240217.034736	ros-humble-zstd-vendor
diff --git a/tmp/print_ros_versions.sh b/tmp/print_ros_versions.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -eux
+
+cur_dir=$(cd $(dirname ${BASH_SOURCE}) && pwd)
+cd ${cur_dir}
+
+dpkg --list ros-humble-* \
+    | grep ^ii \
+    | awk '{print $3 "\t" $2}' \
+    > ./print_ros_versions.output.txt
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		# Import base-level build configuration.
		import %workspace%/../default.bazelrc