[Dev] Add ros2 bazel build example (#16)

WORKSPACE

@@ -23,6 +23,10 @@ load("@llvm_toolchain//:toolchains.bzl", "llvm_register_toolchains")
 llvm_register_toolchains()
 
 ### Python Setup
+load("@rules_python//python:repositories.bzl", "py_repositories")
+
+py_repositories()
+
 load("@rules_python//python:pip.bzl", "pip_install")
 
 pip_install(
@@ -68,4 +72,39 @@ python_configure(name = "local_config_python")
 ### CUDA Setup
 load("@rules_cuda//cuda:repositories.bzl", "register_detected_cuda_toolchains", "rules_cuda_dependencies")
 rules_cuda_dependencies()
-register_detected_cuda_toolchains()
+register_detected_cuda_toolchains()
+
+
+### ROS2 Setup
+load("@com_github_mvukov_rules_ros2//repositories:repositories.bzl", "ros2_repositories", "ros2_workspace_repositories")
+
+ros2_workspace_repositories()
+
+ros2_repositories()
+
+load("@com_github_mvukov_rules_ros2//repositories:deps.bzl", "ros2_deps")
+
+ros2_deps()
+
+load("@rules_python//python:repositories.bzl", "python_register_toolchains")
+
+python_register_toolchains(
+    name = "rules_ros2_python",
+    python_version = "3.10",
+)
+
+load("@rules_python//python:pip.bzl", "pip_parse")
+load("@rules_ros2_python//:defs.bzl", python_interpreter_target = "interpreter")
+
+pip_parse(
+    name = "rules_ros2_pip_deps",
+    python_interpreter_target = python_interpreter_target,
+    requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
+)
+
+load(
+    "@rules_ros2_pip_deps//:requirements.bzl",
+    install_rules_ros2_pip_deps = "install_deps",
+)
+
+install_rules_ros2_pip_deps()

bazel/workspace.bzl

@@ -44,6 +44,7 @@ load("//third_party/protobuf:workspace.bzl", protobuf = "repo")
 load("//third_party/grpc:workspace.bzl", grpc = "repo")
 
 # autonomous vechicle libraries
+load("//third_party/rules_ros2:workspace.bzl", rules_ros2 = "repo")
 load("//third_party/mcap:workspace.bzl", mcap = "repo")
 load("//third_party/onnxruntime:workspace.bzl", onnxruntime = "repo")
 load("//third_party/foxglove_schemas:workspace.bzl", foxglove_schemas = "repo")
@@ -94,6 +95,7 @@ def init_third_parties():
     protobuf()
     grpc()
 
+    rules_ros2()
     mcap()
     foxglove_schemas()
     onnxruntime()

experimental/ros2_example/BUILD

@@ -0,0 +1,37 @@
+load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_binary")
+load("@com_github_mvukov_rules_ros2//ros2:launch.bzl", "ros2_launch")
+
+load("//bazel/tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+ros2_cpp_binary(
+    name = "ros_talker",
+    srcs = ["ros_talker.cc"],
+    deps = [
+        "@ros2_common_interfaces//:cpp_std_msgs",
+        "@ros2_rclcpp//:rclcpp",
+    ],
+)
+
+ros2_cpp_binary(
+    name = "ros_listener",
+    srcs = ["ros_listener.cc"],
+    deps = [
+        "@ros2_common_interfaces//:cpp_std_msgs",
+        "@ros2_rclcpp//:rclcpp",
+    ],
+)
+
+# Disabled ros2_launch temporarily, for following issue:
+# Error: file '@rules_python//python:pip.bzl' does not contain symbol 'whl_filegroup'
+#ros2_launch(
+#    name = "ros_chatter",
+#    launch_file = "ros_chatter.py",
+#    nodes = [
+#        ":ros_listener",
+#        ":ros_talker",
+#    ],
+#)
+
+cpplint()

experimental/ros2_example/README.md

@@ -0,0 +1,6 @@
+## ROS2 Example
+
+### References
+- https://github.com/mvukov/rules_ros2
+- https://github.com/ApexAI/rules_ros/
+- https://github.com/RobotLocomotion/drake-ros

experimental/ros2_example/ros_chatter.py

@@ -0,0 +1,16 @@
+"""Launch a talker and a listener."""
+import launch
+import launch_ros.actions
+
+def generate_launch_description():
+    """Launch a talker and a listener."""
+    return launch.LaunchDescription([
+        launch_ros.actions.Node(
+            # Provide the rootpath for the node.
+            executable='chatter/talker',
+            output='screen',
+            name='talker'),
+        launch_ros.actions.Node(executable='chatter/listener',
+                                output='screen',
+                                name='listener'),
+    ])

experimental/ros2_example/ros_listener.cc

@@ -0,0 +1,26 @@
+// Copyright 2023 AI-Playground
+#include <iostream>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class MinimalSubscriber : public rclcpp::Node {
+ public:
+  MinimalSubscriber() : Node("minimal_subscriber") {
+    subscription_ = create_subscription<std_msgs::msg::String>(
+        "topic", 10, [this](std_msgs::msg::String::UniquePtr msg) {
+          RCLCPP_INFO(get_logger(), "I heard: '%s'", msg->data.c_str());
+        });
+  }
+
+ private:
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+int main(int argc, char* argv[]) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}

experimental/ros2_example/ros_talker.cc

@@ -0,0 +1,40 @@
+// Copyright 2023 AI-Playground
+#include <chrono>  // NOLINT [build/c++11]
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+/* This example creates a subclass of Node and uses a fancy C++11 lambda
+ * function to shorten the callback syntax, at the expense of making the
+ * code somewhat more difficult to understand at first glance. */
+
+class MinimalPublisher : public rclcpp::Node {
+ public:
+  MinimalPublisher() : Node("minimal_publisher"), count_(0) {
+    declare_parameter("callback_period_ms", 500);
+    auto callback_period_ms = get_parameter("callback_period_ms").as_int();
+
+    publisher_ = create_publisher<std_msgs::msg::String>("topic", 10);
+    auto timer_callback = [this]() -> void {
+      auto message = std_msgs::msg::String();
+      message.data = "Hello, world! " + std::to_string(count_++);
+      RCLCPP_INFO(get_logger(), "Publishing: '%s'", message.data.c_str());
+      publisher_->publish(message);
+    };
+    timer_ = create_wall_timer(std::chrono::milliseconds(callback_period_ms),
+                               timer_callback);
+  }
+
+ private:
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  size_t count_;
+};
+
+int main(int argc, char* argv[]) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

third_party/rules_ros2/BUILD

@@ -0,0 +1 @@
+package(default_visibility = ["//visibility:public"])

third_party/rules_ros2/README.md

@@ -0,0 +1,6 @@
+## rules_ros2
+
+See: https://github.com/bazelbuild/rules_ros2
+
+### references
+- https://github.com/bazelbuild/rules_ros2

third_party/rules_ros2/workspace.bzl

@@ -0,0 +1,12 @@
+"""Loads the rules_python package"""
+load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
+
+def clean_dep(dep):
+    return str(Label(dep))
+
+def repo():
+    git_repository(
+        name = "com_github_mvukov_rules_ros2",
+        remote = "https://github.com/mvukov/rules_ros2.git",
+        commit = "b599d6af09b90e0d548d3cb6e39fed8c3ef7be70",
+    )