Migrate to bzlmod

.bazelversion

@@ -1 +1 @@
-6.5.0
+8.3.0

MODULE.bazel

@@ -0,0 +1,61 @@
+module(
+    name = "rules_ros",
+    bazel_compatibility = [">=7.4.1"],
+)
+
+bazel_dep(name = "rules_cc", version = "0.2.2")
+
+# Python
+bazel_dep(name = "rules_python", version = "1.5.1")
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(
+    is_default = True,
+    python_version = "3.10.12",
+)
+use_repo(python, "python_3_10")
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.parse(
+    hub_name = "python_deps",
+    python_version = "3.10.12",
+    requirements_lock = "@rules_ros//thirdparty/python:requirements_lock.txt",
+)
+use_repo(pip, "python_deps")
+
+bazel_dep(name = "bazel_skylib", version = "1.8.1")
+bazel_dep(name = "rules_pkg", version = "1.1.0")
+bazel_dep(name = "libyaml", version = "0.2.5")
+
+# currently only humble is supported, until new lock file format is introduced
+ros2_config = use_extension("@rules_ros//repos/config:extensions.bzl", "ros2_config")
+ros2_config.config(
+    name = "ros2_config",
+    distro = "humble",
+)
+use_repo(ros2_config, "ros2_config")
+
+ros_repos = use_extension("//repos/config:extensions/humble.bzl", "ros_repos")
+use_repo(
+    ros_repos,
+    "ament.ament_index",
+    "eProsima.Fast-CDR",
+    "eProsima.Fast-DDS",
+    "eProsima.foonathan_memory_vendor",
+    "eclipse-cyclonedds.cyclonedds",
+    "eclipse-iceoryx.iceoryx",
+    "ros-tooling.libstatistics_collector",
+    "ros2.common_interfaces",
+    "ros2.rcl",
+    "ros2.rcl_interfaces",
+    "ros2.rcl_logging",
+    "ros2.rclcpp",
+    "ros2.rcpputils",
+    "ros2.rcutils",
+    "ros2.rmw",
+    "ros2.ros2_tracing",
+    "ros2.ros2cli",
+    "ros2.rosidl",
+    "ros2.rosidl_dds",
+    "ros2.rosidl_typesupport",
+)

WORKSPACE.bzlmod

@@ -0,0 +1,15 @@
+# Copyright 2024 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+workspace(name = "rules_ros")

repos/ament.ament_index/ament_index_python.BUILD

@@ -13,7 +13,8 @@
 # limitations under the License.
 
 load("@rules_python//python:packaging.bzl", "py_wheel")
-load("@rules_python//python:python.bzl", "py_test")
+load("@rules_python//python:py_library.bzl", "py_library")
+load("@rules_python//python:py_test.bzl", "py_test")
 load("@rules_ros//pkg:defs.bzl", "ros_pkg")
 load("@python_deps//:requirements.bzl", "requirement")
 

repos/config/detail/ros2_config.bzl

@@ -58,6 +58,11 @@ def _ros2_config_impl(ctx):
         content = "workspace(name = {})".format(ctx.name),
         executable = False,
     )
+    ctx.file(
+        "MODULE.bazel",
+        content = "module(name = {})".format(ctx.name),
+        executable = False,
+    )
     ctx.file(
         "BUILD.bazel",
         content = BUILD_FILE_CONTENT.format(

repos/config/extensions.bzl

@@ -0,0 +1,19 @@
+load(":defs.bzl", "configure_ros2")
+
+def _ros2_config_impl(module_ctx):
+    print((module_ctx.modules[0].name))
+    for mod in module_ctx.modules:
+        for config in mod.tags.config:
+            configure_ros2(name = config.name, distro = config.distro)
+
+_distro_config = tag_class(
+    attrs = {
+        "name": attr.string(),
+        "distro": attr.string(),
+    },
+)
+
+ros2_config = module_extension(
+    implementation = _ros2_config_impl,
+    tag_classes = {"config": _distro_config},
+)

repos/config/extensions/humble.bzl

@@ -0,0 +1,8 @@
+load("//repos/config:setup_humble.lock.bzl", "setup")
+
+def _ros_repos_impl(module_ctx):
+    setup()
+
+ros_repos = module_extension(
+    implementation = _ros_repos_impl,
+)

repos/ros-tooling.libstatistics_collector/root.BUILD

@@ -12,18 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-load("@bazel_skylib//rules:expand_template.bzl","expand_template")
+load("@bazel_skylib//rules:expand_template.bzl", "expand_template")
 
 cc_library(
     name = "libstatistics_collector",
     srcs = glob([
         "src/**/*.c",
         "src/**/*.cpp",
-    ]),
+    ], allow_empty = True),
     hdrs = glob([
         "include/**/*.h",
         "include/**/*.hpp",
-    ]),
+    ], allow_empty = True),
     strip_include_prefix = "include",
     deps = [
         "@ros2.rcl_interfaces//builtin_interfaces",

repos/ros2.common_interfaces/std_msgs.BUILD

@@ -20,10 +20,9 @@ msgs_library(
         "msg/*.idl",
         "msg/*.msg",
         "srv/*.srv",
-    ]),
+    ], allow_empty = True),
     visibility = ["//visibility:public"],
     deps = [
         "@ros2.rcl_interfaces//builtin_interfaces",
     ],
 )
-

repos/ros2.rcl_interfaces/builtin_interfaces.BUILD

@@ -20,6 +20,6 @@ msgs_library(
         "msg/*.msg",
         "msg/*.idl",
         "srv/*.srv",
-    ]),
+    ], allow_empty = True),
     visibility = ["//visibility:public"],
 )

repos/ros2.rcl_interfaces/rcl_interfaces.BUILD

@@ -20,7 +20,7 @@ msgs_library(
         "msg/*.msg",
         "msg/*.idl",
         "srv/*.srv",
-    ]),
+    ], allow_empty = True),
     visibility = ["//visibility:public"],
     deps = [
         "//builtin_interfaces",

repos/ros2.rcl_interfaces/rosgraph_msgs.BUILD

@@ -20,7 +20,7 @@ msgs_library(
         "msg/*.msg",
         "msg/*.idl",
         "srv/*.srv",
-    ]),
+    ], allow_empty = True),
     visibility = ["//visibility:public"],
     deps = [
         "//builtin_interfaces",

repos/ros2.rcl_interfaces/statistics_msgs.BUILD

@@ -20,7 +20,7 @@ msgs_library(
         "msg/*.msg",
         "msg/*.idl",
         "srv/*.srv",
-    ]),
+    ], allow_empty = True),
     visibility = ["//visibility:public"],
     deps = [
         "//builtin_interfaces",

repos/ros2.rcpputils/rcpputils.BUILD

@@ -14,8 +14,8 @@
 
 cc_library(
     name = "rcpputils",
-    srcs = glob(["src/**/*.c"]),
+    srcs = glob(["src/**/*.c"], allow_empty = True),
     hdrs = glob(["include/**/*.hpp"]),
     strip_include_prefix = "include",
     visibility = ["//visibility:public"],
-)
+)

repos/ros2.rosidl_typesupport/rosidl_typesupport_c.BUILD

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 load("@bazel_skylib//rules:copy_file.bzl", "copy_file")
+load("@rules_python//python:py_library.bzl", "py_library")
 
 py_library(
     name = "rosidl_typesupport_c_python",
@@ -67,7 +68,7 @@ cc_library(
 
 filegroup(
     name = "config_files",
-    srcs = glob(["resource/*.in"]),
+    srcs = glob(["resource/*.in"], allow_empty = True),
     visibility = ["//visibility:public"],
 )
 

thirdparty/bazel_skylib/repositories.bzl

@@ -15,8 +15,8 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
-BAZEL_SKYLIB_VERSION = "1.3.0"
-BAZEL_SKYLIB_SHA = "74d544d96f4a5bb630d465ca8bbcfe231e3594e5aae57e1edbf17a6eb3ca2506"
+BAZEL_SKYLIB_VERSION = "1.8.1"
+BAZEL_SKYLIB_SHA = "51b5105a760b353773f904d2bbc5e664d0987fbaf22265164de65d43e910d8ac"
 
 def load_bazel_skylib_repositories():
     maybe(

thirdparty/python/BUILD.bazel

@@ -2,4 +2,6 @@ load("@rules_python//python:pip.bzl", "compile_pip_requirements")
 
 compile_pip_requirements(
     name = "requirements_lock",
+    src = "requirements_lock.in",
+    requirements_txt = "requirements_lock.txt",
 )

thirdparty/python/pip_parse.bzl

@@ -1,9 +1,8 @@
-load("@python_interpreter//:defs.bzl", "interpreter")
 load("@rules_python//python:pip.bzl", _pip_parse = "pip_parse")
 
 def pip_parse():
     _pip_parse(
         name = "python_deps",
-        python_interpreter_target = interpreter,
+        python_interpreter_target = "@python_interpreter_host//:python",
         requirements_lock = "@rules_ros//thirdparty/python:requirements_lock.txt",
     )

thirdparty/python/repositories.bzl

@@ -15,9 +15,9 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
-PYTHON_VERSION = "3.8.13"
-RULES_PYTHON_VERSION = "0.12.0"
-RULES_PYTHON_SHA = "b593d13bb43c94ce94b483c2858e53a9b811f6f10e1e0eedc61073bd90e58d9c"
+PYTHON_VERSION = "3.10.12"
+RULES_PYTHON_VERSION = "1.5.1"
+RULES_PYTHON_SHA = "fa532d635f29c038a64c8062724af700c30cf6b31174dd4fac120bc561a1a560"
 
 def load_rules_python_repositories():
     maybe(

thirdparty/python/requirements_lock.txt

@@ -1,6 +1,6 @@
 #
-# This file is autogenerated by pip-compile with python 3.8
-# To update, run:
+# This file is autogenerated by pip-compile with Python 3.10
+# by the following command:
 #
 #    bazel run //thirdparty/python:requirements_lock.update
 #
@@ -99,7 +99,7 @@ python-dateutil==2.8.2 \
     --hash=sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86 \
     --hash=sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9
     # via catkin-pkg
-pyyaml==6.0.0 \
+pyyaml==6.0 \
     --hash=sha256:01b45c0191e6d66c470b6cf1b9531a771a83c1c4208272ead47a3ae4f2f603bf \
     --hash=sha256:0283c35a6a9fbf047493e3a0ce8d79ef5030852c51e9d911a27badfde0605293 \
     --hash=sha256:055d937d65826939cb044fc8c9b08889e8c743fdc6a32b33e2390f66013e449b \

thirdparty/python/setup_toolchain.bzl → thirdparty/python/setup.bzl

@@ -1,7 +1,8 @@
-load("@rules_python//python:repositories.bzl", "python_register_toolchains")
+load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_toolchains")
 load("@rules_ros//thirdparty/python:repositories.bzl", "PYTHON_VERSION")
 
-def register_python_toolchain():
+def setup_rules_python_repositories():
+    py_repositories()
     python_register_toolchains(
         name = "python_interpreter",
         # Available versions are listed in @rules_python//python:versions.bzl.

thirdparty/rules_pkg/repositories.bzl

@@ -2,8 +2,8 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
 RULES_PKG_VERSION = struct(
-    version = "0.10.1",
-    sha256 = "d250924a2ecc5176808fc4c25d5cf5e9e79e6346d79d5ab1c493e289e722d1d0",
+    version = "1.1.0",
+    sha256 = "b7215c636f22c1849f1c3142c72f4b954bb12bb8dcf3cbe229ae6e69cc6479db",
 )
 
 def load_rules_pkg_repositories():

thirdparty/setup_02.bzl

@@ -13,10 +13,10 @@
 # limitations under the License.
 
 load("@rules_ros//thirdparty/bazel_skylib:setup.bzl", "setup_bazel_skylib_repositories")
-load("@rules_ros//thirdparty/python:setup_toolchain.bzl", "register_python_toolchain")
+load("@rules_ros//thirdparty/python:setup.bzl", "setup_rules_python_repositories")
 load("@rules_ros//thirdparty/rules_pkg:setup.bzl", "setup_rules_pkg_repositories")
 
 def setup_02():
-    register_python_toolchain()
+    setup_rules_python_repositories()
     setup_bazel_skylib_repositories()
     setup_rules_pkg_repositories()