Create xacro Bazel module

.bazelversion

@@ -0,0 +1 @@
+7.4.1

.gitignore

@@ -1,2 +1,4 @@
 *.pyc
 build
+bazel-*
+MODULE.bazel.lock

BUILD.bazel

@@ -0,0 +1,91 @@
+load("@rules_python//python:defs.bzl", "py_binary", "py_test", "py_library")
+load("@rules_python//python:pip.bzl", "compile_pip_requirements")
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+load("@bazel_skylib//:bzl_library.bzl", "bzl_library")
+load("@rules_license//rules:license.bzl", "license")
+
+package(
+    default_applicable_licenses = [":license"],
+)
+
+licenses(["notice"])
+
+license(
+    name = "license",
+    license_kinds = [
+        "@rules_license//licenses/spdx:BSD-3-Clause",
+    ],
+    license_text = "LICENSE",
+)
+
+# This rule adds a convenient way to update the requirements file.
+compile_pip_requirements(
+    name = "requirements",
+    src = "requirements.in",
+    requirements_txt = "requirements_lock.txt",
+)
+
+write_file(
+    name = "write_xacro_main",
+    # This is the same as scripts/xacro from upstream, except that we lose the
+    # unused shebang line and we use a filename that is not subject to import
+    # path conflicts.
+    content = ["import xacro; xacro.main()"],
+    out = "xacro_main.py"
+)
+
+py_library(
+  name = "xacro_lib",
+  srcs = glob([
+    "xacro/**/*.py"
+  ], allow_empty = False),
+  imports = ["."],
+  visibility = ["//visibility:public"],
+  deps = [
+    "@pypi//pyyaml:pkg",
+  ]
+)
+
+py_binary(
+  name = "xacro_main",
+  srcs = ["xacro_main.py"],
+  main = "xacro_main.py",
+  deps = [":xacro_lib"],
+)
+
+alias(
+    name = "xacro",
+    actual = ":xacro_main",
+    visibility = ["//visibility:public"],
+)
+
+TEST_RESOURCES = glob([
+  "test/*.xacro",
+  "test/*.xml",
+  "test/*.yaml",
+  "test/subdir/**",
+  "test/robots/**",
+])
+
+filegroup(
+  name = "test_data",
+  srcs = TEST_RESOURCES,
+  data = TEST_RESOURCES,
+)
+
+py_test(
+  name = "test_xacro",
+  srcs = ["test/test_xacro.py"],
+  main = "test/test_xacro.py",
+  data = [":test_data"],
+  deps = [
+    ":xacro_main",
+    "@rules_python//python/runfiles",
+  ]
+)
+
+bzl_library(
+  name = "build_defs_bzl",
+  srcs = ["build_defs.bzl"],
+  visibility = ["//visibility:public"],
+)

MODULE.bazel

@@ -0,0 +1,21 @@
+module(
+    name = "xacro",
+    version = "2.0.11",
+)
+
+bazel_dep(name = "rules_license", version = "1.0.0")
+bazel_dep(name = "bazel_skylib", version = "1.7.1")
+bazel_dep(name = "rules_python", version = "0.40.0")
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(
+    python_version = "3.11",
+)
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.parse(
+  hub_name = "pypi",
+  python_version = "3.11",
+  requirements_lock = "//:requirements_lock.txt"
+)
+use_repo(pip, "pypi")

requirements.in

@@ -0,0 +1 @@
+pyyaml

requirements_lock.txt

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated by pip-compile with Python 3.11
+# by the following command:
+#
+#    bazel run //:requirements.update
+#
+pyyaml==6.0.2 \
+    --hash=sha256:01179a4a8559ab5de078078f37e5c1a30d76bb88519906844fd7bdea1b7729ff \
+    --hash=sha256:0833f8694549e586547b576dcfaba4a6b55b9e96098b36cdc7ebefe667dfed48 \
+    --hash=sha256:0a9a2848a5b7feac301353437eb7d5957887edbf81d56e903999a75a3d743086 \
+    --hash=sha256:0b69e4ce7a131fe56b7e4d770c67429700908fc0752af059838b1cfb41960e4e \
+    --hash=sha256:0ffe8360bab4910ef1b9e87fb812d8bc0a308b0d0eef8c8f44e0254ab3b07133 \
+    --hash=sha256:11d8f3dd2b9c1207dcaf2ee0bbbfd5991f571186ec9cc78427ba5bd32afae4b5 \
+    --hash=sha256:17e311b6c678207928d649faa7cb0d7b4c26a0ba73d41e99c4fff6b6c3276484 \
+    --hash=sha256:1e2120ef853f59c7419231f3bf4e7021f1b936f6ebd222406c3b60212205d2ee \
+    --hash=sha256:1f71ea527786de97d1a0cc0eacd1defc0985dcf6b3f17bb77dcfc8c34bec4dc5 \
+    --hash=sha256:23502f431948090f597378482b4812b0caae32c22213aecf3b55325e049a6c68 \
+    --hash=sha256:24471b829b3bf607e04e88d79542a9d48bb037c2267d7927a874e6c205ca7e9a \
+    --hash=sha256:29717114e51c84ddfba879543fb232a6ed60086602313ca38cce623c1d62cfbf \
+    --hash=sha256:2e99c6826ffa974fe6e27cdb5ed0021786b03fc98e5ee3c5bfe1fd5015f42b99 \
+    --hash=sha256:39693e1f8320ae4f43943590b49779ffb98acb81f788220ea932a6b6c51004d8 \
+    --hash=sha256:3ad2a3decf9aaba3d29c8f537ac4b243e36bef957511b4766cb0057d32b0be85 \
+    --hash=sha256:3b1fdb9dc17f5a7677423d508ab4f243a726dea51fa5e70992e59a7411c89d19 \
+    --hash=sha256:41e4e3953a79407c794916fa277a82531dd93aad34e29c2a514c2c0c5fe971cc \
+    --hash=sha256:43fa96a3ca0d6b1812e01ced1044a003533c47f6ee8aca31724f78e93ccc089a \
+    --hash=sha256:50187695423ffe49e2deacb8cd10510bc361faac997de9efef88badc3bb9e2d1 \
+    --hash=sha256:5ac9328ec4831237bec75defaf839f7d4564be1e6b25ac710bd1a96321cc8317 \
+    --hash=sha256:5d225db5a45f21e78dd9358e58a98702a0302f2659a3c6cd320564b75b86f47c \
+    --hash=sha256:6395c297d42274772abc367baaa79683958044e5d3835486c16da75d2a694631 \
+    --hash=sha256:688ba32a1cffef67fd2e9398a2efebaea461578b0923624778664cc1c914db5d \
+    --hash=sha256:68ccc6023a3400877818152ad9a1033e3db8625d899c72eacb5a668902e4d652 \
+    --hash=sha256:70b189594dbe54f75ab3a1acec5f1e3faa7e8cf2f1e08d9b561cb41b845f69d5 \
+    --hash=sha256:797b4f722ffa07cc8d62053e4cff1486fa6dc094105d13fea7b1de7d8bf71c9e \
+    --hash=sha256:7c36280e6fb8385e520936c3cb3b8042851904eba0e58d277dca80a5cfed590b \
+    --hash=sha256:7e7401d0de89a9a855c839bc697c079a4af81cf878373abd7dc625847d25cbd8 \
+    --hash=sha256:80bab7bfc629882493af4aa31a4cfa43a4c57c83813253626916b8c7ada83476 \
+    --hash=sha256:82d09873e40955485746739bcb8b4586983670466c23382c19cffecbf1fd8706 \
+    --hash=sha256:8388ee1976c416731879ac16da0aff3f63b286ffdd57cdeb95f3f2e085687563 \
+    --hash=sha256:8824b5a04a04a047e72eea5cec3bc266db09e35de6bdfe34c9436ac5ee27d237 \
+    --hash=sha256:8b9c7197f7cb2738065c481a0461e50ad02f18c78cd75775628afb4d7137fb3b \
+    --hash=sha256:9056c1ecd25795207ad294bcf39f2db3d845767be0ea6e6a34d856f006006083 \
+    --hash=sha256:936d68689298c36b53b29f23c6dbb74de12b4ac12ca6cfe0e047bedceea56180 \
+    --hash=sha256:9b22676e8097e9e22e36d6b7bda33190d0d400f345f23d4065d48f4ca7ae0425 \
+    --hash=sha256:a4d3091415f010369ae4ed1fc6b79def9416358877534caf6a0fdd2146c87a3e \
+    --hash=sha256:a8786accb172bd8afb8be14490a16625cbc387036876ab6ba70912730faf8e1f \
+    --hash=sha256:a9f8c2e67970f13b16084e04f134610fd1d374bf477b17ec1599185cf611d725 \
+    --hash=sha256:bc2fa7c6b47d6bc618dd7fb02ef6fdedb1090ec036abab80d4681424b84c1183 \
+    --hash=sha256:c70c95198c015b85feafc136515252a261a84561b7b1d51e3384e0655ddf25ab \
+    --hash=sha256:cc1c1159b3d456576af7a3e4d1ba7e6924cb39de8f67111c735f6fc832082774 \
+    --hash=sha256:ce826d6ef20b1bc864f0a68340c8b3287705cae2f8b4b1d932177dcc76721725 \
+    --hash=sha256:d584d9ec91ad65861cc08d42e834324ef890a082e591037abe114850ff7bbc3e \
+    --hash=sha256:d7fded462629cfa4b685c5416b949ebad6cec74af5e2d42905d41e257e0869f5 \
+    --hash=sha256:d84a1718ee396f54f3a086ea0a66d8e552b2ab2017ef8b420e92edbc841c352d \
+    --hash=sha256:d8e03406cac8513435335dbab54c0d385e4a49e4945d2909a581c83647ca0290 \
+    --hash=sha256:e10ce637b18caea04431ce14fabcf5c64a1c61ec9c56b071a4b7ca131ca52d44 \
+    --hash=sha256:ec031d5d2feb36d1d1a24380e4db6d43695f3748343d99434e6f5f9156aaa2ed \
+    --hash=sha256:ef6107725bd54b262d6dedcc2af448a266975032bc85ef0172c5f059da6325b4 \
+    --hash=sha256:efdca5630322a10774e8e98e1af481aad470dd62c3170801852d752aa7a783ba \
+    --hash=sha256:f753120cb8181e736c57ef7636e83f31b9c0d1722c516f7e86cf15b7aa57ff12 \
+    --hash=sha256:ff3824dc5261f50c9b0dfb3be22b4567a6f938ccce4587b38952d85fd9e9afe4
+    # via -r requirements.in

test/test_xacro.py

@@ -57,6 +57,20 @@
     def subTest(msg):
         yield None
 
+try:
+    # Determine if we are running the test under bazel and switch to runfiles directory
+    from python.runfiles import runfiles
+
+    data_path = runfiles.Create().Rlocation("_main/test")
+    os.chdir(data_path)
+
+    # Set the executable path
+    XACRO_EXECUTABLE = runfiles.Create().Rlocation("_main/xacro_main")
+    BAZEL_TEST = True
+except ImportError:
+    XACRO_EXECUTABLE = 'xacro'
+    BAZEL_TEST = False
+
 # regex to match whitespace
 whitespace = re.compile(r'\s+')
 
@@ -383,7 +397,7 @@ def quick_xacro(self, xml, cli=None, **kwargs):
 
     def run_xacro(self, input_path, *args):
         args = list(args)
-        subprocess.call(['xacro', input_path] + args)
+        subprocess.call([XACRO_EXECUTABLE, input_path] + args)
 
 
 # class to match XML docs while ignoring any comments
@@ -392,6 +406,7 @@ def __init__(self, *args, **kwargs):
         super(TestXacroCommentsIgnored, self).__init__(*args, **kwargs)
         self.ignore_nodes = [xml.dom.Node.COMMENT_NODE]
 
+    @unittest.skipIf(BAZEL_TEST, "Bazel build does not support $(find pkg)")
     def test_pr2(self):
         # run xacro on the pr2 tree snapshot
         test_dir = os.path.abspath(os.path.dirname(__file__))
@@ -551,6 +566,7 @@ def test_math_ignores_spaces(self):
         src = '''<a><f v="${0.9 / 2 - 0.2}" /></a>'''
         self.assert_matches(self.quick_xacro(src), '''<a><f v="0.25" /></a>''')
 
+    @unittest.skipIf(BAZEL_TEST, "Bazel build does not support $(find pkg)")
     def test_substitution_args_find(self):
         resolved = self.quick_xacro('''<a>$(find xacro)/test/test_xacro.py</a>''').firstChild.firstChild.data
         self.assertEqual(os.path.realpath(resolved), os.path.realpath(__file__))

xacro/substitution_args.py

@@ -137,7 +137,13 @@ def _dirname(resolved, a, args, context):
 
 
 def _eval_find(pkg):
-    from ament_index_python.packages import get_package_share_directory
+    try:
+        from ament_index_python.packages import get_package_share_directory
+    except ModuleNotFoundError:
+        raise SubstitutionException(
+            '$(find pkg) requires ament_index_python, but it was not found'
+        )
+
     return get_package_share_directory(pkg)