This repo provides functionality to build and use ROS2 with Bazel.
You will need to install Bazel, see here. Besides Bazel, you will need a C++ compiler and a Python 3 interpreter.
And no, you don't have to install any ROS2 packages via apt
.
The code is developed and tested on Ubuntu 20.04 with Python 3.8.
Available features:
- Building of C++ and Python nodes (rclcpp and rclpy work).
- C/C++/Python code generation for interfaces (messages, services and actions).
- Defining ROS2 deployments with
ros2_launch
Bazel macro. - Defining ROS2 tests with
ros2_test
Bazel macro. - Only CycloneDDS middleware can be used at the moment.
- Utilities:
ros2_param
for handling parametersros2_topic
for handling topics
ROS2 packages are by default locked to versions from release-humble-20220523.
NOTE: Unlike ROS1 genmsg which refuses to generate code if the deps between interface targets are not set correctly, code generation for ROS2 seems to not care about this. If the deps are not correctly set, you'll only see failures during compilation of the generated code. It could be that I missed setting some flags to the code generation of ROS2 interfaces.
Please take a look at the examples folder to get started.
The grand idea would be to get this repo at least to the level of rules_ros. In particular:
- It has to be convenient to cross-compile a ROS2 deployment.