proto <> ros functionality

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 = "1.1.0")
+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")

repositories/deps.bzl

@@ -3,6 +3,7 @@
 
 load("@bazel_features//:deps.bzl", "bazel_features_deps")
 load("@bazel_skylib//:workspace.bzl", "bazel_skylib_workspace")
+load("@com_google_protobuf//:protobuf_deps.bzl", "protobuf_deps")
 load("@googletest//:googletest_deps.bzl", "googletest_deps")
 load("@rules_foreign_cc//foreign_cc:repositories.bzl", "rules_foreign_cc_dependencies")
 load("@rules_shell//shell:repositories.bzl", "rules_shell_dependencies", "rules_shell_toolchains")
@@ -16,3 +17,4 @@ def ros2_deps():
     rules_shell_toolchains()
     rules_foreign_cc_dependencies()
     googletest_deps()
+    protobuf_deps()

repositories/repositories.bzl

@@ -234,6 +234,14 @@ def ros2_workspace_repositories():
         ],
     )
 
+    maybe(
+        http_archive,
+        name = "com_google_protobuf",
+        sha256 = "440848dffa209beb8a04e41cc352762e44f8e91342b2a43aab6af9b30713c2f6",
+        strip_prefix = "protobuf-33.5",
+        urls = ["https://github.com/protocolbuffers/protobuf/archive/refs/tags/v33.5.tar.gz"],
+    )
+
 def ros2_repositories():
     """Import ROS 2 repositories."""
 

ros2/BUILD.bazel

@@ -5,6 +5,7 @@ load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
 load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 load("@rules_python//python:pip.bzl", "whl_filegroup")
+load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")
 
 exports_files([
     "action.bzl",

ros2/interfaces.bzl

@@ -16,6 +16,7 @@
 
 load("@bazel_skylib//lib:paths.bzl", "paths")
 load("@com_github_mvukov_rules_ros2//ros2:cc_opts.bzl", "C_COPTS")
+load("@com_google_protobuf//bazel/common:proto_info.bzl", "ProtoInfo")
 load("@rules_cc//cc:defs.bzl", "CcInfo", "cc_common")
 load("@rules_cc//cc:toolchain_utils.bzl", "find_cpp_toolchain")
 load("@rules_python//python:defs.bzl", "PyInfo", "py_library")
@@ -26,6 +27,7 @@ Ros2InterfaceInfo = provider(
     fields = [
         "info",
         "deps",
+        "ros_package_name",
     ],
 )
 
@@ -43,6 +45,7 @@ def _ros2_interface_library_impl(ctx):
                     for dep in ctx.attr.deps
                 ],
             ),
+            ros_package_name = ctx.label.name,
         ),
     ]
 
@@ -141,7 +144,7 @@ IdlAdapterAspectInfo = provider("TBD", fields = [
 ])
 
 def _idl_adapter_aspect_impl(target, ctx):
-    package_name = target.label.name
+    package_name = target[Ros2InterfaceInfo].ros_package_name
     srcs = target[Ros2InterfaceInfo].info.srcs
     idl_files, idl_tuples = _run_adapter(ctx, package_name, srcs)
     return [
@@ -154,14 +157,15 @@ def _idl_adapter_aspect_impl(target, ctx):
 idl_adapter_aspect = aspect(
     implementation = _idl_adapter_aspect_impl,
     attr_aspects = ["deps"],
-    required_providers = [Ros2InterfaceInfo],
     attrs = {
         "_adapter": attr.label(
             default = Label("@ros2_rosidl//:rosidl_adapter_app"),
             executable = True,
             cfg = "exec",
         ),
     },
+    required_providers = [[ProtoInfo], [Ros2InterfaceInfo]],
+    required_aspect_providers = [Ros2InterfaceInfo],
     provides = [IdlAdapterAspectInfo],
 )
 
@@ -291,13 +295,13 @@ def _get_compilation_contexts_from_deps(deps):
     return [dep[CcInfo].compilation_context for dep in deps]
 
 def _get_compilation_contexts_from_aspect_info_deps(deps, aspect_info):
-    return [dep[aspect_info].cc_info.compilation_context for dep in deps]
+    return [dep[aspect_info].cc_info.compilation_context for dep in deps if aspect_info in dep]
 
 def _get_linking_contexts_from_deps(deps):
     return [dep[CcInfo].linking_context for dep in deps]
 
 def _get_linking_contexts_from_aspect_info_deps(deps, aspect_info):
-    return [dep[aspect_info].cc_info.linking_context for dep in deps]
+    return [dep[aspect_info].cc_info.linking_context for dep in deps if aspect_info in dep]
 
 def _compile_cc_generated_code(
         ctx,
@@ -367,7 +371,7 @@ def _compile_cc_generated_code(
     )
 
 def _c_generator_aspect_impl(target, ctx):
-    package_name = target.label.name
+    package_name = target[Ros2InterfaceInfo].ros_package_name
     srcs = target[Ros2InterfaceInfo].info.srcs
     adapter = target[IdlAdapterAspectInfo]
 
@@ -492,14 +496,14 @@ c_generator_aspect = aspect(
     fragments = ["cpp"],
 )
 
-def _cc_generator_impl(ctx, aspect_info):
+def cc_generator_impl(ctx, aspect_info):
     cc_info = cc_common.merge_cc_infos(
         direct_cc_infos = [dep[aspect_info].cc_info for dep in ctx.attr.deps],
     )
     return [cc_info]
 
 def _c_ros2_interface_library_impl(ctx):
-    return _cc_generator_impl(ctx, CGeneratorAspectInfo)
+    return cc_generator_impl(ctx, CGeneratorAspectInfo)
 
 c_ros2_interface_library = rule(
     attrs = {
@@ -535,7 +539,7 @@ _TYPESUPPORT_INTROSPECION_GENERATOR_CPP_OUTPUT_MAPPING = [
 ]
 
 def _cpp_generator_aspect_impl(target, ctx):
-    package_name = target.label.name
+    package_name = target[Ros2InterfaceInfo].ros_package_name
     srcs = target[Ros2InterfaceInfo].info.srcs
     adapter = target[IdlAdapterAspectInfo]
 
@@ -648,15 +652,15 @@ cpp_generator_aspect = aspect(
             default = Label("@bazel_tools//tools/cpp:current_cc_toolchain"),
         ),
     },
-    required_providers = [Ros2InterfaceInfo],
-    required_aspect_providers = [IdlAdapterAspectInfo],
+    required_providers = [[ProtoInfo], [Ros2InterfaceInfo]],
+    required_aspect_providers = [[Ros2InterfaceInfo], [IdlAdapterAspectInfo]],
     provides = [CppGeneratorAspectInfo],
     toolchains = ["@bazel_tools//tools/cpp:toolchain_type"],
     fragments = ["cpp"],
 )
 
 def _cpp_ros2_interface_library_impl(ctx):
-    return _cc_generator_impl(ctx, CppGeneratorAspectInfo)
+    return cc_generator_impl(ctx, CppGeneratorAspectInfo)
 
 cpp_ros2_interface_library = rule(
     attrs = {
@@ -686,7 +690,7 @@ def _get_py_srcs(files):
     return [f for f in files if f.path.endswith(".py")]
 
 def _py_generator_aspect_impl(target, ctx):
-    package_name = target.label.name
+    package_name = target[Ros2InterfaceInfo].ros_package_name
     srcs = target[Ros2InterfaceInfo].info.srcs
     adapter = target[IdlAdapterAspectInfo]
 
@@ -779,32 +783,33 @@ def _py_generator_aspect_impl(target, ctx):
             *relative_path_parts[0:]
         )
 
+    py_deps = [dep for dep in ctx.rule.attr.deps if PyGeneratorAspectInfo in dep]
     py_info = PyGeneratorAspectInfo(
         cc_info = cc_common.merge_cc_infos(
             direct_cc_infos = [compilation_info.cc_info] + [
                 dep[PyGeneratorAspectInfo].cc_info
-                for dep in ctx.rule.attr.deps
+                for dep in py_deps
             ],
         ),
         dynamic_libraries = depset(
             direct = [dynamic_library],
             transitive = [
                 dep[PyGeneratorAspectInfo].dynamic_libraries
-                for dep in ctx.rule.attr.deps
+                for dep in py_deps
             ],
         ),
         transitive_sources = depset(
             direct = _get_py_srcs(all_outputs),
             transitive = [
                 dep[PyGeneratorAspectInfo].transitive_sources
-                for dep in ctx.rule.attr.deps
+                for dep in py_deps
             ],
         ),
         imports = depset(
             direct = [py_import_path],
             transitive = [
                 dep[PyGeneratorAspectInfo].imports
-                for dep in ctx.rule.attr.deps
+                for dep in py_deps
             ],
         ),
         linker_inputs = compilation_info.cc_info.linking_context.linker_inputs,

ros2/plugin_aspects.bzl

@@ -98,7 +98,7 @@ Ros2InterfaceCollectorAspectInfo = provider(
 
 def create_interface_struct(target):
     return struct(
-        package_name = target.label.name,
+        package_name = target[Ros2InterfaceInfo].ros_package_name,
         srcs = target[Ros2InterfaceInfo].info.srcs,
     )
 
@@ -155,7 +155,7 @@ def create_dynamic_library(ctx, **kwargs):
     return dynamic_library
 
 def _ros2_idl_plugin_aspect_impl(target, ctx):
-    package_name = target.label.name
+    package_name = target[Ros2InterfaceInfo].ros_package_name
     cc_info = target[CppGeneratorAspectInfo].cc_info
     dynamic_library = create_dynamic_library(
         ctx,

ros2/protobuf/BUILD.bazel

@@ -0,0 +1,36 @@
+load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_library")
+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")
+
+exports_files([
+    "protobuf.bzl",
+])
+
+py_library(
+    name = "proto_to_ros2",
+    srcs = ["proto_to_ros2.py"],
+    deps = [
+        "@com_google_protobuf//:protobuf_python",
+    ],
+)
+
+py_binary(
+    name = "proto_to_ros2_msg",
+    srcs = ["proto_to_ros2_msg.py"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":proto_to_ros2",
+        "@com_google_protobuf//:protobuf_python",
+    ],
+)
+
+py_binary(
+    name = "proto_to_ros2_converter",
+    srcs = ["proto_to_ros2_converter.py"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":proto_to_ros2",
+        "@com_google_protobuf//:protobuf_python",
+        requirement("empy"),
+    ],
+)