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ROS 2 rules for Bazel

This project provides rules to build and run against a ROS 2 distribution from Bazel.

Please be sure to review Alternatives for Bazel tooling for use with the ROS 2 ecosystem.

Features

  • Automatic ROS 2 overlay scraping, symlink or merge-installed
  • ROS 2 aware C++/Python binaries (e.g. dload capable via shims)
  • ROS 2 interface generation within Bazel. Ament index manifests are also generated against any ROS 2 dependencies (data or deps for cc and py rules).
    • For example, you can generate custom message types, and them as dependencies, run ros2 interface list under Bazel and see your custom generated types.

More detail about these features are listed in ./ros2.

Platform support

These rules require ROS 2 Humble distributions on Ubuntu Jammy 22.04 and onwards.

Usage

  1. Add bazel_ros2_rules to your WORKSPACE (e.g. via http_archive()).

  2. Add bazel_ros2_rules dependencies to you WORKSPACE:

load("@bazel_ros2_rules//deps:defs.bzl", "add_bazel_ros2_rules_dependencies")
add_bazel_ros2_rules_dependencies()
  1. Bind a local ROS 2 workspace underlay in your WORKSPACE:
load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_local_repository")
ros2_local_repository(
    name = "ros2",
    workspaces = ["/opt/ros/<distro>"],
)

For further documentation on available rules, refer to ros2 package documentation.