feat(proto2ros): add support for proto2ros

.bazelrc

@@ -53,6 +53,8 @@ build:clang --linkopt="-fuse-ld=lld"
 # Work around https://github.com/bazelbuild/rules_rust/issues/2125
 build --action_env=CARGO_BAZEL_REPIN=1
 
+common --enable_bzlmod --noenable_workspace
+
 # Load any settings specific to the current user.
 # user.bazelrc should appear in .gitignore so that settings are not shared with
 # team members. This needs to be last statement in this config,

MODULE.bazel

@@ -10,6 +10,7 @@ bazel_dep(name = "libyaml", version = "0.2.5")
 bazel_dep(name = "lz4", version = "1.10.0.bcr.1")
 bazel_dep(name = "nlohmann_json", version = "3.12.0.bcr.1")
 bazel_dep(name = "platforms", version = "1.0.0")
+bazel_dep(name = "protobuf", version = "33.5", repo_name = "com_google_protobuf")
 bazel_dep(name = "pybind11_bazel", version = "3.0.0")
 bazel_dep(name = "readerwriterqueue", version = "1.0.6")
 bazel_dep(name = "rules_cc", version = "0.2.16")
@@ -150,6 +151,7 @@ use_repo(
     "foxglove_bridge",
     "iceoryx",
     "osrf_pycommon",
+    "proto2ros",
     "ros2",
     "ros2_ament_index",
     "ros2_class_loader",

examples/MODULE.bazel

@@ -6,6 +6,7 @@ local_path_override(
     path = "..",
 )
 
+bazel_dep(name = "protobuf", version = "33.5", repo_name = "com_google_protobuf")
 bazel_dep(name = "rules_cc", version = "0.2.9")
 bazel_dep(name = "rules_python", version = "1.6.3")
 bazel_dep(name = "rules_rust", version = "0.63.0")
@@ -29,6 +30,8 @@ rules_ros2_non_module_deps = use_extension("@com_github_mvukov_rules_ros2//ros2:
 use_repo(
     rules_ros2_non_module_deps,
     # Check the rules_ros2 root MODULE.bazel for a full list of available non-module repos
+    # Required for proto2ros:
+    "proto2ros",
     # Required for bazel test:
     "ros2_common_interfaces",
     "ros2_geometry2",
@@ -44,5 +47,6 @@ use_repo(
     "ros2cli",
     # Required for bazel run:
     "ros2_rclpy",
+    # Required for proto2ros:
     "ros2_rosidl",
 )

examples/proto_to_ros/BUILD.bazel

@@ -0,0 +1,59 @@
+load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_binary")
+load("@com_github_mvukov_rules_ros2//ros2:interfaces.bzl", "cpp_ros2_interface_library", "py_ros2_interface_library", "ros2_interface_library")
+load("@com_github_mvukov_rules_ros2//ros2:launch.bzl", "ros2_launch")
+load("@com_github_mvukov_rules_ros2//ros2:proto2ros.bzl", "proto2ros_message")
+load("@com_google_protobuf//bazel:proto_library.bzl", "proto_library")
+load("@rules_python//python:defs.bzl", "py_binary")
+
+proto_library(
+    name = "chatter_proto",
+    srcs = ["message.proto"],
+)
+
+proto2ros_message(
+    name = "chatter_msgs",
+    msg_names = ["ChatterMessage"],
+    proto_library = ":chatter_proto",
+)
+
+ros2_interface_library(
+    name = "chatter_interfaces",
+    srcs = [":chatter_msgs"],
+)
+
+cpp_ros2_interface_library(
+    name = "chatter_interfaces_cpp",
+    deps = [":chatter_interfaces"],
+)
+
+py_ros2_interface_library(
+    name = "chatter_interfaces_py",
+    deps = [":chatter_interfaces"],
+)
+
+py_binary(
+    name = "talker",
+    srcs = ["talker.py"],
+    deps = [
+        ":chatter_interfaces_py",
+        "@ros2_rclpy//:rclpy",
+    ],
+)
+
+ros2_cpp_binary(
+    name = "listener",
+    srcs = ["listener.cc"],
+    deps = [
+        ":chatter_interfaces_cpp",
+        "@ros2_rclcpp//:rclcpp",
+    ],
+)
+
+ros2_launch(
+    name = "proto_to_ros",
+    launch_file = "proto_to_ros.py",
+    nodes = [
+        ":listener",
+        ":talker",
+    ],
+)

examples/proto_to_ros/README.md

@@ -0,0 +1,63 @@
+# Proto2ros Example
+
+This example demonstrates how to use `proto2ros` to convert Protocol Buffer
+definitions to ROS 2 messages, integrated with working ROS 2 nodes.
+
+## Overview
+
+The example shows:
+
+- Converting a `.proto` file to ROS 2 `.msg` format
+- Using the `proto2ros_message` rule
+- **Python talker node** publishing messages on the `chatter` topic
+- **C++ listener node** subscribing to messages on the `chatter` topic
+
+## Files
+
+- `message.proto` - Protocol Buffer message definition
+- `talker.py` - Python publisher node
+- `listener.cc` - C++ subscriber node
+- `proto2ros.py` - Launch file to run both nodes
+- `BUILD.bazel` - Bazel build configuration
+
+## Usage
+
+### In BUILD.bazel
+
+```python
+load("@com_google_protobuf//bazel:proto_library.bzl", "proto_library")
+load("@com_github_mvukov_rules_ros2//ros2:proto2ros.bzl", "proto2ros_message")
+
+proto_library(
+    name = "chatter_proto",
+    srcs = ["message.proto"],
+)
+
+proto2ros_message(
+    name = "chatter_msgs",
+    msg_names = ["ChatterMessage"],
+    proto_library = ":chatter_proto",
+)
+
+ros2_interface_library(
+    name = "chatter_interfaces",
+    srcs = [":chatter_msgs"],
+)
+```
+
+### Building
+
+```bash
+bazel build //examples/proto_to_ros:all
+bazel build //examples/proto_to_ros:talker            # Python talker node
+bazel build //examples/proto_to_ros:listener          # C++ listener node
+bazel build //examples/proto_to_ros:proto_to_ros      # Launch file
+```
+
+### Running
+
+Run the demo to see the Python talker and C++ listener communicate:
+
+```bash
+bazel run //examples/proto_to_ros:proto_to_ros
+```

examples/proto_to_ros/listener.cc

@@ -0,0 +1,46 @@
+// Copyright 2026 Milan Vukov
+//
+// 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.
+
+#include <memory>
+
+#include "chatter_interfaces/msg/chatter_message.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+/**
+ * C++ listener node using proto2ros generated messages.
+ */
+class ProtoChatterListener : public rclcpp::Node {
+ public:
+  ProtoChatterListener() : Node("proto_chatter_listener") {
+    subscription_ =
+        create_subscription<chatter_interfaces::msg::ChatterMessage>(
+            "chatter", 10,
+            [this](chatter_interfaces::msg::ChatterMessage::UniquePtr msg) {
+              RCLCPP_INFO(get_logger(),
+                          "I heard: data='%s', timestamp=%ld",
+                          msg->data.c_str(), msg->timestamp);
+            });
+  }
+
+ private:
+  rclcpp::Subscription<chatter_interfaces::msg::ChatterMessage>::SharedPtr
+      subscription_;
+};
+
+int main(int argc, char* argv[]) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<ProtoChatterListener>());
+  rclcpp::shutdown();
+  return 0;
+}

examples/proto_to_ros/message.proto

@@ -0,0 +1,8 @@
+syntax = "proto3";
+
+package chatter;
+
+message ChatterMessage {
+  string data = 1;
+  int64 timestamp = 2;
+}

examples/proto_to_ros/proto_to_ros.py

@@ -0,0 +1,35 @@
+# Copyright 2026 Milan Vukov
+#
+# 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.
+"""Launch proto2ros chatter demo: Python talker and C++ listener."""
+
+import launch
+import launch_ros.actions
+
+
+def generate_launch_description():
+    """Launch a Python talker and C++ listener using proto2ros messages."""
+    return launch.LaunchDescription(
+        [
+            launch_ros.actions.Node(
+                executable="proto_to_ros/talker",
+                output="screen",
+                name="proto_talker",
+            ),
+            launch_ros.actions.Node(
+                executable="proto_to_ros/listener",
+                output="screen",
+                name="proto_listener",
+            ),
+        ]
+    )

examples/proto_to_ros/talker.py

@@ -0,0 +1,61 @@
+# Copyright 2026 Milan Vukov
+#
+# 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.
+
+"""Python talker node using proto2ros generated messages."""
+
+import time
+
+import rclpy
+from chatter_interfaces.msg import ChatterMessage
+from rclpy import node
+
+
+class ProtoChatterTalker(node.Node):
+    """Publishes ChatterMessage messages on the 'chatter' topic."""
+
+    def __init__(self):
+        super().__init__("proto_chatter_talker")
+        self.publisher_ = self.create_publisher(ChatterMessage, "chatter", 10)
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        """Publish a ChatterMessage with data and timestamp."""
+        msg = ChatterMessage()
+        msg.data = f"Hello from proto2ros: {self.i}"
+        msg.timestamp = int(time.time() * 1000)  # milliseconds since epoch
+        self.publisher_.publish(msg)
+        self.get_logger().info(
+            f'Publishing: data="{msg.data}", timestamp={msg.timestamp}'
+        )
+        self.i += 1
+
+
+def main():
+    rclpy.init()
+
+    talker = ProtoChatterTalker()
+
+    try:
+        rclpy.spin(talker)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        talker.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

repositories/proto2ros.BUILD.bazel

@@ -0,0 +1,39 @@
+"""Builds proto2ros from bdaiinstitute/proto2ros repository."""
+
+load("@com_google_protobuf//bazel:py_proto_library.bzl", "py_proto_library")
+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")
+
+py_proto_library(
+    name = "protobuf_runtime",
+    deps = ["@com_google_protobuf//:any_proto"],
+)
+
+# Core proto2ros Python library
+py_library(
+    name = "proto2ros_lib",
+    srcs = glob(["proto2ros/proto2ros/**/*.py"]),
+    data = glob([
+        "proto2ros/proto2ros/configuration/*.yaml",
+        "proto2ros/proto2ros/output/templates/**/*",
+    ]),
+    imports = ["proto2ros"],
+    deps = [
+        ":protobuf_runtime",
+        "@ros2_rosidl//:rosidl_adapter_lib",
+        requirement("inflection"),
+        requirement("jinja2"),
+        requirement("networkx"),
+        requirement("numpy"),
+        requirement("pyyaml"),
+    ],
+)
+
+# Main generation CLI binary
+py_binary(
+    name = "generate",
+    srcs = ["proto2ros/proto2ros/cli/generate.py"],
+    main = "proto2ros/proto2ros/cli/generate.py",
+    visibility = ["//visibility:public"],
+    deps = [":proto2ros_lib"],
+)

repositories/repositories.bzl

@@ -333,3 +333,14 @@ def ros2_repositories():
         strip_prefix = "rcl_logging_syslog-e63257f2d5ca693f286bbcedf2b23720675b7f73",
         urls = ["https://github.com/fujitatomoya/rcl_logging_syslog/archive/e63257f2d5ca693f286bbcedf2b23720675b7f73.zip"],
     )
+
+def proto2ros_repository():
+    """Fetches proto2ros from GitHub."""
+    maybe(
+        http_archive,
+        name = "proto2ros",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:proto2ros.BUILD.bazel",
+        sha256 = "31fbebb35056266f2959fda4291862f063b21ea29a8209c5d87cde49443e71bd",
+        strip_prefix = "proto2ros-0cc24714f99d1538d20fc25c9312d6199c3ce662",
+        url = "https://github.com/bdaiinstitute/proto2ros/archive/0cc24714f99d1538d20fc25c9312d6199c3ce662.tar.gz",
+    )

requirements.txt

@@ -1,7 +1,10 @@
 catkin_pkg
 coverage
 empy==3.3.*
+inflection
+jinja2
 lark-parser
+networkx
 numpy~=1.23
 packaging
 psutil