Update xacro and use upstream xacro Bazel rule

MODULE.bazel

@@ -23,6 +23,11 @@ bazel_dep(name = "sqlite3", version = "3.42.0.bcr.1")
 bazel_dep(name = "tinyxml", version = "2.6.2")
 bazel_dep(name = "tinyxml2", version = "10.0.0")
 bazel_dep(name = "websocketpp", version = "0.8.2.bcr.3")
+bazel_dep(name = "xacro", version = "2.0.12", repo_name = "ros2_xacro")
+#local_path_override(
+#    module_name = "xacro",
+#    path = "../xacro",
+#)
 bazel_dep(name = "yaml-cpp", version = "0.8.0")
 bazel_dep(name = "zlib", version = "1.3.1.bcr.5")
 bazel_dep(name = "zstd", version = "1.5.6")
@@ -170,7 +175,6 @@ use_repo(
     "ros2_unique_identifier_msgs",
     "ros2_urdfdom",
     "ros2_urdfdom_headers",
-    "ros2_xacro",
     "ros2cli",
     "rules_ros2_config_clang",
 )

examples/foxglove_bridge/BUILD.bazel

@@ -1,6 +1,6 @@
 load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_binary")
 load("@com_github_mvukov_rules_ros2//ros2:launch.bzl", "ros2_launch")
-load("@com_github_mvukov_rules_ros2//ros2:xacro.bzl", "xacro")
+load("@ros2_xacro//bazel:defs.bzl", "xacro_file")
 load(
     "@com_github_mvukov_rules_ros2//third_party:expand_template.bzl",
     "expand_template",
@@ -17,9 +17,9 @@ ros2_cpp_binary(
 )
 
 # Creates a URDF representation from the given xacro file.
-xacro(
+xacro_file(
     name = "sam_bot",
-    srcs = ["sam_bot.xacro"],
+    src = "sam_bot.urdf.xacro",
 )
 
 expand_template(

repositories/repositories.bzl

@@ -234,6 +234,14 @@ def ros2_workspace_repositories():
         ],
     )
 
+    maybe(
+        http_archive,
+        name = "ros2_xacro",
+        sha256 = "6df0d44af8a6bf9f23f0536ce167a0cd7b4c01281100dfea7e17d504363b424d",
+        strip_prefix = "xacro-2.0.13",
+        urls = ["https://github.com/ros/xacro/archive/refs/tags/2.0.13.tar.gz"],
+    )
+
 def ros2_repositories():
     """Import ROS 2 repositories."""
 
@@ -267,15 +275,6 @@ def ros2_repositories():
         urls = ["https://github.com/foxglove/ros-foxglove-bridge/archive/refs/tags/0.7.9.tar.gz"],
     )
 
-    maybe(
-        http_archive,
-        name = "ros2_xacro",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:xacro.BUILD.bazel",
-        sha256 = "a8802a5b48f7479bae1238e822ac4ebb47660221eb9bc40a608e899d60f3f7e4",
-        strip_prefix = "xacro-2.0.9",
-        urls = ["https://github.com/ros/xacro/archive/refs/tags/2.0.9.tar.gz"],
-    )
-
     # Version copied from https://github.com/ros2/orocos_kdl_vendor/blob/0.2.5/orocos_kdl_vendor/CMakeLists.txt#L58.
     maybe(
         http_archive,

ros2/BUILD.bazel

@@ -28,7 +28,6 @@ exports_files([
     "test.bzl",
     "test.py.tpl",
     "topic.bzl",
-    "xacro.bzl",
 ])
 
 string_flag(

ros2/test/xacro/BUILD.bazel

@@ -1,25 +1,28 @@
 load("@rules_python//python:defs.bzl", "py_test")
-load("//ros2:xacro.bzl", "xacro")
+load("@ros2_xacro//bazel:defs.bzl", "xacro_file")
 
-xacro(
+xacro_file(
     name = "test_urdf",
-    srcs = ["test.xacro"],
+    src = "test.urdf.xacro",
 )
 
-xacro(
+xacro_file(
+    name = "sample1",
+    src = "sample1.urdf.xacro",
+)
+
+xacro_file(
     name = "test_include",
-    srcs = [
-        "sample1.xacro",
-    ],
-    main = "sample2.xacro",
+    src = "sample2.urdf.xacro",
+    deps = ["sample1"],
 )
 
-xacro(
+xacro_file(
     name = "test_with_params",
-    srcs = [
+    data = [
         "params.yaml",
     ],
-    main = "test_with_params.xacro",
+    src = "test_with_params.urdf.xacro",
 )
 
 py_test(

ros2/test/xacro/tests.py

@@ -21,23 +21,23 @@ def test_urdf(self):
   <b bar="2 2.0"/>
 </xml>
 """
-        self._check('ros2/test/xacro/test_urdf/model.urdf', expected_xml)
+        self._check('ros2/test/xacro/test_urdf.urdf', expected_xml)
 
     def test_include(self):
         expected_xml = """
 <xml>
   <a foo="1 1.0"/>
 </xml>
 """
-        self._check('ros2/test/xacro/test_include/model.urdf', expected_xml)
+        self._check('ros2/test/xacro/test_include.urdf', expected_xml)
 
     def test_with_params(self):
         expected_xml = """
 <xml>
   <a foo="bar"/>
 </xml>
 """
-        self._check('ros2/test/xacro/test_with_params/model.urdf', expected_xml)
+        self._check('ros2/test/xacro/test_with_params.urdf', expected_xml)
 
 
 if __name__ == '__main__':