RobotLocomotion · jwnimmer-tri · Apr 16, 2024 · Mar 19, 2024 · Mar 19, 2024 · Mar 21, 2024
diff --git a/.github/workflows/bazelized_drake_ros.yml b/.github/workflows/bazelized_drake_ros.yml
@@ -48,6 +48,9 @@ jobs:
         run: |
           sudo apt install python3 python3-toposort
           sudo rm -rf /var/lib/apt/lists/*
+      - name: Use GCC 11, until GCC 13 works with drake's clang
+        run: sudo apt purge gcc-13 libgcc-13-dev g++-13 libstdc++-13-dev gcc-12 libgcc-12-dev g++-12 libstdc++-12-dev && sudo apt install gcc-11 g++-11 && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 --slave /usr/bin/g++ g++ /usr/bin/g++-11
+        working-directory: drake_ros
       - name: Download Drake
         run: bazel build @drake//:module_py
         working-directory: drake_ros

diff --git a/bazel_ros2_rules/ros2/resources/templates/prologue.bazel b/bazel_ros2_rules/ros2/resources/templates/prologue.bazel
@@ -1,10 +1,9 @@
 # -*- python -*-
 # vi: set ft=python :
 
-package(default_visibility = ["//visibility:public"])
-
-load("//tools:common.bzl", "interfaces_filegroup")
-load("//tools:common.bzl", "share_filegroup")
+load("//tools:common.bzl", "interfaces_filegroup", "share_filegroup")
 load(":ros_py.bzl", "ros_import_binary")
 
+package(default_visibility = ["//visibility:public"])
+
 exports_files(["system-rosdep-keys.txt"])
diff --git a/bazel_ros2_rules/ros2/ros_cc.bzl b/bazel_ros2_rules/ros2/ros_cc.bzl
@@ -1,5 +1,10 @@
 # -*- python -*-
 
+load("//tools:ament_index.bzl", "AmentIndex")
+load(
+    "//tools:common.bzl",
+    "incorporate_rmw_implementation",
+)
 load(
     "//tools:dload_cc.bzl",
     "dload_cc_ldwrap",
@@ -10,11 +15,6 @@ load(
     "filter_to_only_common_kwargs",
     "remove_test_specific_kwargs",
 )
-load(
-    "//tools:common.bzl",
-    "incorporate_rmw_implementation",
-)
-load("//tools:ament_index.bzl", "AmentIndex")
 load(
     ":distro.bzl",
     "RUNTIME_ENVIRONMENT",

diff --git a/bazel_ros2_rules/ros2/ros_py.bzl b/bazel_ros2_rules/ros2/ros_py.bzl
@@ -1,5 +1,9 @@
 # -*- python -*-
 
+load(
+    "//tools:common.bzl",
+    "incorporate_rmw_implementation",
+)
 load(
     "//tools:dload_py.bzl",
     "dload_py_shim",
@@ -9,10 +13,6 @@ load(
     "filter_to_only_common_kwargs",
     "remove_test_specific_kwargs",
 )
-load(
-    "//tools:common.bzl",
-    "incorporate_rmw_implementation",
-)
 load(
     ":distro.bzl",
     "RUNTIME_ENVIRONMENT",

diff --git a/bazel_ros2_rules/ros2/rosidl.bzl b/bazel_ros2_rules/ros2/rosidl.bzl
@@ -3,15 +3,15 @@
 load("@bazel_skylib//lib:paths.bzl", "paths")
 load("@python_dev//:version.bzl", "PYTHON_EXTENSION_SUFFIX")
 load("//tools:ament_index.bzl", "AmentIndex")
+load(
+    ":_calculate_rosidl_capitalization.bzl",
+    "calculate_rosidl_capitalization",
+)
 load(
     ":distro.bzl",
     "AVAILABLE_TYPESUPPORT_LIST",
     "REPOSITORY_ROOT",
 )
-load(
-    ":_calculate_rosidl_capitalization.bzl",
-    "calculate_rosidl_capitalization",
-)
 
 RosInterfaces = provider(
     fields = ["interfaces"],

diff --git a/drake_ros/WORKSPACE b/drake_ros/WORKSPACE
@@ -22,8 +22,11 @@ load("@bazel_ros2_rules//deps:defs.bzl", "add_bazel_ros2_rules_dependencies")
 add_bazel_ros2_rules_dependencies()
 
 load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_local_repository")
-load("//:required_packages.bzl", "DRAKE_ROS_REQUIRED_PACKAGES")
-load("//:required_packages.bzl", "DRAKE_ROS_TEST_DEPENDENCIES")
+load(
+    "//:required_packages.bzl",
+    "DRAKE_ROS_REQUIRED_PACKAGES",
+    "DRAKE_ROS_TEST_DEPENDENCIES",
+)
 
 DRAKE_ROS_ALL_DEPENDENCIES = \
     DRAKE_ROS_REQUIRED_PACKAGES + DRAKE_ROS_TEST_DEPENDENCIES

diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl
@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.26.0.tar.gz",  # noqa
-    sha256 = "f10b50b695ea29430cc291d1019b4cc1aceedcebec3290110b24b7e48c5f5588",  # noqa,
-    strip_prefix = "drake-1.26.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.28.0.tar.gz",  # noqa
+    sha256 = "6ff298d7fbc33cb17963509f86fcd9cb6816d455b97b3fd589e1085e0548c2fe",  # noqa,
+    strip_prefix = "drake-1.28.0",
 )
diff --git a/drake_ros/drake_ros/BUILD.bazel b/drake_ros/drake_ros/BUILD.bazel
@@ -1,8 +1,8 @@
-load("@ros2//:ros_py.bzl", "ros_py_test")
 load(
     "@drake//tools/skylark:pybind.bzl",
     "pybind_py_library",
 )
+load("@ros2//:ros_py.bzl", "ros_py_test")
 
 # TODO(Aditya): Add focused unittest for qos_pybind.h
 cc_library(

diff --git a/drake_ros_examples/WORKSPACE b/drake_ros_examples/WORKSPACE
@@ -32,9 +32,9 @@ local_repository(
     path = "../drake_ros",
 )
 
-load("@drake_ros_repo//:required_packages.bzl", "DRAKE_ROS_REQUIRED_PACKAGES")
 load(
     "@drake_ros_repo//:required_packages.bzl",
+    "DRAKE_ROS_REQUIRED_PACKAGES",
     "drake_ros_fail_if_missing_required_packages",
 )
 

diff --git a/drake_ros_examples/examples/hydroelastic/BUILD.bazel b/drake_ros_examples/examples/hydroelastic/BUILD.bazel
@@ -3,8 +3,7 @@
 
 load("@ros2//:ament_index.bzl", "ament_index_share_files")
 load("@ros2//:ros_cc.bzl", "ros_cc_binary")
-load("@ros2//:ros_py.bzl", "ros_py_binary")
-load("@ros2//:ros_py.bzl", "ros_py_test")
+load("@ros2//:ros_py.bzl", "ros_py_binary", "ros_py_test")
 
 # We use `ament_index_share_files` so we can write code that can find
 # resources both when built by CMake and by Bazel.

diff --git a/drake_ros_examples/examples/iiwa_manipulator/BUILD.bazel b/drake_ros_examples/examples/iiwa_manipulator/BUILD.bazel
@@ -2,8 +2,7 @@
 # vi: set ft=python :
 
 load("@ros2//:ros_cc.bzl", "ros_cc_binary")
-load("@ros2//:ros_py.bzl", "ros_py_binary")
-load("@ros2//:ros_py.bzl", "ros_py_test")
+load("@ros2//:ros_py.bzl", "ros_py_binary", "ros_py_test")
 
 ros_cc_binary(
     name = "iiwa_manipulator",

diff --git a/drake_ros_examples/examples/multirobot/BUILD.bazel b/drake_ros_examples/examples/multirobot/BUILD.bazel
@@ -2,14 +2,13 @@
 # vi: set ft=python :
 
 load("@ros2//:ros_cc.bzl", "ros_cc_binary")
-load("@ros2//:ros_py.bzl", "ros_py_binary")
-load("@ros2//:ros_py.bzl", "ros_py_test")
+load("@ros2//:ros_py.bzl", "ros_py_binary", "ros_py_test")
 
 ros_cc_binary(
     name = "multirobot",
     srcs = ["multirobot.cc"],
     data = [
-        "@drake//manipulation/models/iiwa_description:models",
+        "@drake_models//:iiwa_description",
     ],
     rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
@@ -32,7 +31,7 @@ ros_py_binary(
     name = "multirobot_py",
     srcs = ["multirobot.py"],
     data = [
-        "@drake//manipulation/models/iiwa_description:models",
+        "@drake_models//:iiwa_description",
     ],
     main = "multirobot.py",
     rmw_implementation = "rmw_cyclonedds_cpp",

diff --git a/drake_ros_examples/examples/multirobot/multirobot.cc b/drake_ros_examples/examples/multirobot/multirobot.cc
@@ -67,10 +67,9 @@ int main(int argc, char** argv) {
                   scene_visualizer->get_graph_query_input_port());
 
   // Prepare to load the robot model
-  auto parser = drake::multibody::Parser(&plant);
-  auto model_file_path = drake::FindResourceOrThrow(
-      "drake/manipulation/models/iiwa_description/urdf/"
-      "iiwa14_polytope_collision.urdf");
+  auto model_file_url =
+      "package://drake_models/iiwa_description/urdf/"
+      "iiwa14_polytope_collision.urdf";
   const std::string model_name = "kuka_iiwa";
 
   // Create a 5x5 array of manipulators
@@ -84,9 +83,9 @@ int main(int argc, char** argv) {
       // coordinates in the array
       std::stringstream model_instance_name;
       model_instance_name << model_name << xx << '_' << yy;
+      auto parser = drake::multibody::Parser(&plant);
       parser.SetAutoRenaming(true);
-      auto model_instance = parser.AddModels(model_file_path)[0];
-
+      auto model_instance = parser.AddModelsFromUrl(model_file_url)[0];
       plant.RenameModelInstance(model_instance, model_instance_name.str());
 
       // Weld the robot to the world so it doesn't fall through the floor

diff --git a/drake_ros_examples/examples/multirobot/multirobot.py b/drake_ros_examples/examples/multirobot/multirobot.py
@@ -81,9 +81,9 @@ def main():
         scene_visualizer.get_graph_query_input_port())
 
     # Prepare to load the robot model
-    parser = Parser(plant)
-    model_file_path = FindResourceOrThrow(
-        'drake/manipulation/models/iiwa_description/urdf/iiwa14_polytope_collision.urdf')
+    model_file_url = (
+        'package://drake_models/iiwa_description/urdf/'
+        'iiwa14_polytope_collision.urdf')
     model_name = "kuka_iiwa"
 
     # Create a 5x5 array of manipulators
@@ -95,7 +95,8 @@ def main():
         for y in range(NUM_COLS):
             # Load the model from the file and give it a name based on its X
             # and Y coordinates in the array
-            (iiwa,) = parser.AddModels(model_file_path)
+            parser = Parser(plant)
+            (iiwa,) = parser.AddModels(url=model_file_url)
             models[x].append(iiwa)
             plant.RenameModelInstance(model_instance=iiwa,
                                       name=model_name + str(x) + '_' + str(y))

diff --git a/drake_ros_examples/examples/rs_flip_flop/BUILD.bazel b/drake_ros_examples/examples/rs_flip_flop/BUILD.bazel
@@ -2,8 +2,7 @@
 # vi: set ft=python :
 
 load("@ros2//:ros_cc.bzl", "ros_cc_binary")
-load("@ros2//:ros_py.bzl", "ros_py_binary")
-load("@ros2//:ros_py.bzl", "ros_py_test")
+load("@ros2//:ros_py.bzl", "ros_py_binary", "ros_py_test")
 
 ros_cc_binary(
     name = "rs_flip_flop",

diff --git a/ros2_example_bazel_installed/WORKSPACE b/ros2_example_bazel_installed/WORKSPACE
@@ -1,19 +1,12 @@
 workspace(name = "ros2_example_bazel_installed")
 
 load("//tools:environ.bzl", "environment_repository")
-load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
 environment_repository(
     name = "ros2_example_bazel_installed_environ",
     envvars = ["ROS2_DISTRO_PREFIX"],
 )
 
-load(
-    "@ros2_example_bazel_installed_environ//:environ.bzl",
-    "ROS2_DISTRO_PREFIX",
-)
-
-# Skylib workspace boilerplate
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 http_archive(
@@ -45,8 +38,11 @@ load("@bazel_ros2_rules//deps:defs.bzl", "add_bazel_ros2_rules_dependencies")
 
 add_bazel_ros2_rules_dependencies()
 
-load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_archive")
-load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_local_repository")
+load(
+    "@bazel_ros2_rules//ros2:defs.bzl",
+    "ros2_archive",
+    "ros2_local_repository",
+)
 
 # TODO(Aditya): Replace with a proper rule later.
 new_local_repository(
@@ -56,12 +52,19 @@ new_local_repository(
                             visibility = ["//visibility:public"])""",
 )
 
+load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
+
 git_repository(
     name = "com_github_gflags_gflags",
     tag = "v2.2.2",
     remote = "https://github.com/gflags/gflags.git",
 )
 
+load(
+    "@ros2_example_bazel_installed_environ//:environ.bzl",
+    "ROS2_DISTRO_PREFIX",
+)
+
 # Please keep this list sorted
 ROS2_PACKAGES = [
     "action_msgs",

diff --git a/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel b/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
@@ -1,8 +1,7 @@
 # -*- mode: python -*-
 # vi: set ft=python :
 
-load("@ros2//:ros_cc.bzl", "ros_cc_binary")
-load("@ros2//:ros_cc.bzl", "ros_cc_test")
+load("@ros2//:ros_cc.bzl", "ros_cc_binary", "ros_cc_test")
 load("@ros2//:ros_py.bzl", "ros_py_binary", "ros_py_test")
 load("@ros2//:rosidl.bzl", "rosidl_interfaces_group")
 load("//tools:cmd_test.bzl", "cmd_test")

diff --git a/ros2_example_bazel_installed/tools/BUILD.bazel b/ros2_example_bazel_installed/tools/BUILD.bazel
@@ -1,12 +1,12 @@
 # -*- python -*-
 
-exports_files(["cmd_exec.sh"])
-
 load(
     "@ros2//:ros_py.bzl",
     "ros_py_binary",
 )
 
+exports_files(["cmd_exec.sh"])
+
 ros_py_binary(
     name = "ros2",
     srcs = ["ros2.py"],