feat: port to bzlmod #14

finn-ball · 2024-03-26T11:31:34Z

Port project to bzlmod:
#13

finn-ball · 2024-03-26T11:33:23Z

Do we need to specify gflags or shall we remove this as a dependency?

.bazelversion

finn-ball · 2024-05-27T08:26:02Z

Since my changes for rules_boost have been merged, this is now ready for review.

hofbi · 2024-05-27T09:19:17Z

Do we know the exact version of boost that is added here? ROS is very picky about the exact version of boost. For noetic it must be 1.71

finn-ball · 2024-05-27T09:29:42Z

Do we know the exact version of boost that is added here? ROS is very picky about the exact version of boost. For noetic it must be 1.71

rules_boost doesn't currently allow you to pick a version easily. rules_ros brings in whatever version of boost rules_boost defines:

rules_ros/repositories/deps.bzl

Line 13 in 06e8ede

boost_deps()

Which is pinned in rules_boost here:
https://github.com/nelhage/rules_boost/blob/83ce910e5a266a08bd5634e8ab480d6c2e32a571/boost/boost.bzl#L118
I assume one could override this manually in their project. Though my changes currently are in line with what this ruleset provides.

Someone had made a PR in rules_boost in which attempted to allow the user to choose a boost version:
nelhage/rules_boost#557

This would be, in my opinion, a welcome change if it worked.

hofbi · 2024-05-27T09:39:19Z

Picking the correct verison, 1.71 in this case, should be required to make it work correctly. I don't think ROS will work with 1.84

finn-ball · 2024-05-27T09:41:41Z

I'd suggest that be a separate issue/PR as this PR copies exactly the same mechanism rules_ros currently uses, though instead of bringing it in via the deps.bzl as noted above:

load("@com_github_nelhage_rules_boost//:boost/boost.bzl", "boost_deps")

def ros_deps():
    """ Sets up ROS deps.
    """
    boost_deps()

It defines it in the MODULE file instead:

non_module_boost_repositories = use_extension("@rules_boost//:boost/repositories.bzl", "non_module_dependencies")
use_repo(
    non_module_boost_repositories,
    "boost",
)

hofbi · 2024-05-27T12:23:57Z

Makes sense.

Last small comment. How about paths such as in https://github.com/mvukov/rules_ros/blob/main/third_party/ros/roslaunch/deps.py.tpl#L1? Do they have to change with bzlmod?

finn-ball · 2024-05-27T13:56:51Z

Makes sense.

Last small comment. How about paths such as in https://github.com/mvukov/rules_ros/blob/main/third_party/ros/roslaunch/deps.py.tpl#L1? Do they have to change with bzlmod?

done

mvukov

Nice that nelhage/rules_boost#553 is merged.

Anyway, not sure ros is picky about boost version, I am quite some it works with 1.8x used here for a while now.

mvukov · 2024-05-27T20:15:56Z

third_party/ros/roslaunch/deps.py.tpl

@@ -1,2 +1,2 @@
-ROSMASTER_PATH = 'external/ros_comm/rosmaster'
+ROSMASTER_PATH = 'external/_main~non_module_dependencies~ros_comm/rosmaster'


OK, it's about time to auto-generated this path instead of hard-coding it. The same for the change in third_party/ros/roslaunch/roscore.xml.

I'll try to schedule some time for this in the coming days.

Good idea as the name _main~non_module_dependencies will change depending on what they called it in the MODULE file.

udaya2899 · 2024-06-10T15:13:09Z

Thanks for the work, folks. Once this is done, I can add rules_ros to Bazel Central Registry (https://registry.bazel.build)

Filed an issue there to track this.

mvukov · 2024-06-16T13:41:44Z

Why is nobzlmod deleted? Maybe there are some folks around who would still like to use this in nobzlmode.

finn-ball · 2024-06-17T08:11:34Z

Why is nobzlmod deleted? Maybe there are some folks around who would still like to use this in nobzlmode.

The deletion of --noenable_bzlmod only directly affects building and testing inside this repository. There's nothing to stop a non-bzlmod project depending on this one. The change just means the project will actually be using the changes I introduced.

Regardless of the above, bzlmod is currently the default for bazel and WORKSPACE is being depreciated in the next major release of bazel.

udaya2899 · 2024-06-21T10:59:47Z

Friendly nudge on this PR. @mvukov - Would be great to have this merged.

finn-ball · 2024-06-27T10:43:28Z

I don't think there is anything left for me to resolve in this PR. As far as my testing is concerned, it works and is ready to merge.

mvukov

@hofbi To my knowledge you're so far the only one using actively this repo. Are you OK removing non-bzlmod support in this PR?

mvukov · 2024-06-30T19:09:56Z

MODULE.bazel

+    "boost",
+)
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")


In my other project rules_ros2, I suggest rules_python should be defined as dev dep here and should be set up in the user repo, mvukov/rules_ros2#238 (comment).

I'd say the same applies here. We should not constrain our users which Python they are going to use.

mvukov · 2024-06-30T19:13:02Z

Regardless of the above, bzlmod is currently the default for bazel and WORKSPACE is being depreciated in the next major release of bazel.

In my eyes, this is not a good enough reason to ditch workspace workflow, in particular if there are users of the workspace workflow who are depending on this feature. I asked @hofbi to weigh in.

I don't use this repo personally TBH (working on and using rules_ros2), so users have to weigh in.

mvukov · 2024-06-30T19:15:37Z

Also relevant comment mvukov/rules_ros2#344 (comment)

hofbi · 2024-06-30T19:21:20Z

@hofbi To my knowledge you're so far the only one using actively this repo. Are you OK removing non-bzlmod support in this PR?

@mvukov thanks for asking. We are already on bzlmod, so dropping the legacy workspace is totally fine with me.

finn-ball · 2024-07-01T08:38:48Z

In my eyes, this is not a good enough reason to ditch workspace workflow, in particular if there are users of the workspace workflow who are depending on this feature. I asked @hofbi to weigh in.

As I said before, WORKSPACE users can still depend on this repository, even with that flag removed. That flag just means that when executing the tests inside this repository, it uses the default bzlmod. Regardless, bazel 8 users won't be able to use the WORKSPACE workflow anyway and I'd expect that flag to be removed in the next major release.

mering · 2024-07-01T09:24:42Z

@hofbi To my knowledge you're so far the only one using actively this repo. Are you OK removing non-bzlmod support in this PR?

We recently started using this repo as well and are also on Bzlmod already. So looking very much forward to see this merged (and added to BCR afterwards).

mvukov · 2024-07-02T06:42:08Z

As I said before, WORKSPACE users can still depend on this repository, even with that flag removed. That flag just means that when executing the tests inside this repository, it uses the default bzlmod. Regardless, bazel 8 users won't be able to use the WORKSPACE workflow anyway and I'd expect that flag to be removed in the next major release.

https://bazel.build/about/roadmap#bzlmod:-external: in 8 workspace is still going to work, in 9 is going to be removed.

mvukov · 2024-07-02T06:42:34Z

Thanks for the hard work. I'll test this ASAP and merge the PR if all green.

mvukov · 2024-07-02T06:43:29Z

MODULE.bazel

+    "console_bridge",
+    "roscpp_core",
+    "rosconsole",
+    "ros_genmsg",
+    "ros_gencpp",
+    "ros_genpy",
+    "ros_std_msgs",
+    "ros_comm_msgs",
+    "ros_comm",
+    "ros_ros",
+    "ros_common_msgs",
+    "ros_actionlib",
+    "ros_dynamic_reconfigure",
+    "ros_geometry2",
+    "orocos_kdl",
+    "urdfdom_headers",
+    "tinyxml",
+    "urdfdom",


This is the ugly part, but nothing we can do about that. I wish there was a way to import a variable from a repo.

hofbi · 2024-07-03T17:42:15Z

Would it still make sense to setup a CI for this project to simplify the verification for the other and potential future PRs?

mvukov

💯

finn-ball force-pushed the finn/bzl-mod branch from c557b89 to cfa4d89 Compare March 26, 2024 11:32

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finn-ball mentioned this pull request May 28, 2024

feat: generate filepaths for rosout and rosmaster #18

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udaya2899 mentioned this pull request Jun 10, 2024

wanted: mvukov/rules_ros bazelbuild/bazel-central-registry#2223

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Avoid using native repo rules #21

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feat: port to bzlmod

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Port to Bazel Modules #13

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feat: port to bzlmod #14

feat: port to bzlmod #14

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		@@ -1,2 +1,2 @@
		ROSMASTER_PATH = 'external/ros_comm/rosmaster'
		ROSMASTER_PATH = 'external/_main~non_module_dependencies~ros_comm/rosmaster'

feat: port to bzlmod #14

feat: port to bzlmod #14

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