ament.bzl: Use marker files instead of subdirectories in packages resource index by furushchev · Pull Request #623 · mvukov/rules_ros2

furushchev · 2026-04-21T04:47:30Z

Fixes #622

Add _write_package_marker: Create marker files at packages/<name> per ament specification
Move package.xml to share/<name>/package.xml (correct location)
Update get_plugins_xml_path to use share/ directory

Before:

share/ament_index/resource_index/packages/foo/package.xml (directory)

After:

share/ament_index/resource_index/packages/foo (marker file)
share/foo/package.xml (package manifest)

Fixes ament index spec compliance per:
https://github.com/ament/ament_cmake/blob/jazzy/ament_cmake_core/doc/resource_index.md

…source index - Split _write_package_xml into _write_package_marker and _write_package_xml - Create marker files at packages/<name> per ament specification - Move package.xml to share/<name>/package.xml (correct location) - Update get_plugins_xml_path to use share/ directory - Fix bug: line 166 was appending base_package twice instead of plugin_package - Add optional content parameter to _write_package_marker for future flexibility This change makes rules_ros2's ament index structure compliant with the official ament specification, which requires marker files (not directories) in the packages resource type. Before: share/ament_index/resource_index/packages/foo/package.xml (directory) After: share/ament_index/resource_index/packages/foo (marker file) share/foo/package.xml (package manifest) Fixes ament index spec compliance per: https://github.com/ament/ament_cmake/blob/jazzy/ament_cmake_core/doc/resource_index.md Verified: - All marker files are created as files (not directories) - package.xml files placed in correct share/<package>/ location - Interface discovery works correctly (bazel run //:interface -- list) - Structure matches real ROS 2 installations

mvukov · 2026-04-27T20:23:56Z

Interesting :) How did the current implementation work so far without anyone complaining?

furushchev · 2026-04-28T00:00:13Z

@mvukov Not sure how exactly, but I had a program that didn't work before, and this fix made it work. (I'll make a PR after this getting merged)

mvukov · 2026-04-28T19:58:06Z

Would be good to add your use case as a unit test.

furushchev · 2026-05-08T17:32:20Z

Would be good to add your use case as a unit test.

Sorry for the delayed response.
I added one example that fails without this change
#628

furushchev · 2026-05-08T17:34:34Z

@mvukov Here is the result of the example:

BEFORE

$ bazel run //chatter:interface list
Starting local Bazel server (8.5.1) and connecting to it...
WARNING: For repository 'rules_cc', the root module requires module version rules_cc@0.2.9, but got rules_cc@0.2.16 in the resolved dependency graph. Please update the version in your MODULE.bazel or set --check_direct_dependencies=off
WARNING: For repository 'rules_rust', the root module requires module version rules_rust@0.63.0, but got rules_rust@0.67.0 in the resolved dependency graph. Please update the version in your MODULE.bazel or set --check_direct_dependencies=off
INFO: Analyzed target //chatter:interface (152 packages loaded, 16293 targets configured).
INFO: Found 1 target...
Target //chatter:interface up-to-date:
  bazel-bin/chatter/interface
  bazel-bin/chatter/interface_launch.py
INFO: Elapsed time: 41.328s, Critical Path: 31.60s
INFO: 724 processes: 232 internal, 492 processwrapper-sandbox.
INFO: Build completed successfully, 724 total actions
INFO: Running command line: bazel-bin/chatter/interface <args omitted>
Messages:
Traceback (most recent call last):
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2+/ros2/ros2_interface.py", line 33, in <module>
    sys.exit(ros2cli.cli.main(argv=sys.argv[1:], extension=extension))
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2++non_module_deps+ros2cli/ros2cli/ros2cli/cli.py", line 91, in main
    rc = extension.main(parser=parser, args=args)
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2+/ros2/ros2_cmd.py", line 121, in main
    return extension.main(args=args)
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2++non_module_deps+ros2cli/ros2interface/ros2interface/verb/list.py",
line 70, in main
    print_messages()
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2++non_module_deps+ros2cli/ros2interface/ros2interface/verb/list.py",
line 23, in print_messages
    message_interfaces = get_message_interfaces()
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2++non_module_deps+ros2_rosidl_runtime_py/rosidl_runtime_py/get_interf
aces.py", line 84, in get_message_interfaces
    interfaces = _get_interfaces(package_names)
  File "/home/furushchev/.cache/bazel/_bazel_furushchev/93dbdedab3419566dfbf2f05e47d5ed2/execroot/_main/bazel-out/k8-fastbuild/bin/chatter/interface.runfiles/com_github_mvukov_rules_ros2++non_module_deps+ros2_rosidl_runtime_py/rosidl_runtime_py/get_interf
aces.py", line 37, in _get_interfaces
    raise LookupError(f"Unknown package '{package_name}'")
LookupError: Unknown package 'action_msgs'

AFTER

$ bazel run //chatter:interface list
WARNING: For repository 'rules_cc', the root module requires module version rules_cc@0.2.9, but got rules_cc@0.2.16 in the resolved dependency graph. Please update the version in your MODULE.bazel or set --check_direct_dependencies=off
WARNING: For repository 'rules_rust', the root module requires module version rules_rust@0.63.0, but got rules_rust@0.67.0 in the resolved dependency graph. Please update the version in your MODULE.bazel or set --check_direct_dependencies=off
INFO: Analyzed target //chatter:interface (91 packages loaded, 7016 targets configured).
INFO: Found 1 target...
Target //chatter:interface up-to-date:
  bazel-bin/chatter/interface
  bazel-bin/chatter/interface_launch.py
INFO: Elapsed time: 0.864s, Critical Path: 0.05s
INFO: 21 processes: 721 action cache hit, 21 internal.
INFO: Build completed successfully, 21 total actions
INFO: Running command line: bazel-bin/chatter/interface <args omitted>
Messages:
    action_msgs/msg/GoalInfo
    action_msgs/msg/GoalStatus
    action_msgs/msg/GoalStatusArray
    builtin_interfaces/msg/Duration
    builtin_interfaces/msg/Time
    lifecycle_msgs/msg/State
    lifecycle_msgs/msg/Transition
    lifecycle_msgs/msg/TransitionDescription
    lifecycle_msgs/msg/TransitionEvent
    rcl_interfaces/msg/FloatingPointRange
    rcl_interfaces/msg/IntegerRange
    rcl_interfaces/msg/ListParametersResult
    rcl_interfaces/msg/Log
    rcl_interfaces/msg/Parameter
    rcl_interfaces/msg/ParameterDescriptor
    rcl_interfaces/msg/ParameterEvent
    rcl_interfaces/msg/ParameterEventDescriptors
    rcl_interfaces/msg/ParameterType
    rcl_interfaces/msg/ParameterValue
    rcl_interfaces/msg/SetParametersResult
    rmw_dds_common/msg/Gid
    rmw_dds_common/msg/NodeEntitiesInfo
    rmw_dds_common/msg/ParticipantEntitiesInfo
    rosgraph_msgs/msg/Clock
    std_msgs/msg/Bool
    std_msgs/msg/Byte
    std_msgs/msg/ByteMultiArray
    std_msgs/msg/Char
    std_msgs/msg/ColorRGBA
    std_msgs/msg/Empty
    std_msgs/msg/Float32
    std_msgs/msg/Float32MultiArray
    std_msgs/msg/Float64
    std_msgs/msg/Float64MultiArray
    std_msgs/msg/Header
    std_msgs/msg/Int16
    std_msgs/msg/Int16MultiArray
    std_msgs/msg/Int32
    std_msgs/msg/Int32MultiArray
    std_msgs/msg/Int64
    std_msgs/msg/Int64MultiArray
    std_msgs/msg/Int8
    std_msgs/msg/Int8MultiArray
    std_msgs/msg/MultiArrayDimension
    std_msgs/msg/MultiArrayLayout
    std_msgs/msg/String
    std_msgs/msg/UInt16
    std_msgs/msg/UInt16MultiArray
    std_msgs/msg/UInt32
    std_msgs/msg/UInt32MultiArray
    std_msgs/msg/UInt64
    std_msgs/msg/UInt64MultiArray
    std_msgs/msg/UInt8
    std_msgs/msg/UInt8MultiArray
    unique_identifier_msgs/msg/UUID
Services:
Actions:

mvukov · 2026-05-17T21:03:51Z

A unit/integration test should live in this PR.

mvukov · 2026-05-25T20:29:40Z

Please fix CI complaints.

Merge branch 'main' into fix-ament-index

cc8642c

furushchev mentioned this pull request May 8, 2026

feat: add ros2 interface CLI command support #628

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ament.bzl: Use marker files instead of subdirectories in packages resource index#623

ament.bzl: Use marker files instead of subdirectories in packages resource index#623
furushchev wants to merge 2 commits into
mvukov:mainfrom
furushchev:fix-ament-index

furushchev commented Apr 21, 2026

Uh oh!

mvukov commented Apr 27, 2026 •

edited

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furushchev commented Apr 28, 2026 •

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mvukov commented Apr 28, 2026

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furushchev commented May 8, 2026

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furushchev commented May 8, 2026

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mvukov commented May 17, 2026

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mvukov commented May 25, 2026

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furushchev commented Apr 21, 2026

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mvukov commented Apr 27, 2026 •

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