examples

Examples for rules_ros2

This folder provides some examples and guidelines on how you can use this repo in your very own (mono)repo.

Handling of external dependencies

It's important to note here that this folder is a yet another repository. Regarding handling of external dependencies, there are two ways to set up your repo to use this repo. In the following it is explained how to set up each of them with some pros and cons.

WORKSPACE-file based setup

This is traditional way of setting up external dependencies that Bazel-team plans to phase out. Please take a look at the WORKSPACE file in this folder to get an idea how to set up yourself.

This approach allows one to customize a Python interpreter and Python deps in requirements.txt file. In particular, the user is responsible to define the interpreter and requirements lock file in their repo. The official interpreter version for ROS 2 Humble is 3.10 and in WORKSPACE file a 3.10 interpreter is setup up. Please pay attention that resolved dependencies in requirements_lock.txt file are resolved for Python 3.10.

If you want to use this approach, make sure you have the following lines in your .bazelrc file:

common --noenable_bzlmod --enable_workspace

bzlmod-based setup

This is the new external dependency subsystem. Please take a look at the MODULE.bazel file in this folder to get an idea how to set up yourself.

With this approach, rules_ros2 defines a Python 3.10 interpreter and defines the hub with resolved Python deps. If you want a different intepreter and/or you want to extend the Python requirements files with extra deps you might want to use in your monorepo, you'll need to patch requirements_lock.txt file and this repo.

This is the default way for handling external deps since Bazel 7.

If you want to be more explicit and explicitly disable the workspace-based setup, you can add the following lines in your .bazelrc file:

common --enable_bzlmod --noenable_workspace

The rest of the setup

Besides setting up your workspace/bzlmod file, please make sure you copy the .bazelrc file as well to your monorepo -- or at least adjust your own using the provided one.

Before you build/run/test any of the targets in this folder, please make sure your terminal is in this folder, or in a subfolder, and not in the root of the repo.

You can start with a simple chatter example.