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

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

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67aa7e1
fix(ament): use marker files instead of subdirectories in packages re…
furushchev Apr 21, 2026
cc8642c
Merge branch 'main' into fix-ament-index
mvukov Apr 28, 2026
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51 changes: 47 additions & 4 deletions ros2/ament.bzl
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Original file line number Diff line number Diff line change
Expand Up @@ -40,16 +40,55 @@ _RESOURCE_INDEX_PATH = "share/ament_index/resource_index"
_PACKAGES_PATH = paths.join(_RESOURCE_INDEX_PATH, "packages")
_PACKAGE_XML = "package.xml"

def _write_package_marker(ctx, prefix_path, package_name, content = ""):
"""Writes a marker file for the package in the ament index.

The packages resource type should be shallow and contain marker files (not directories)
named after each package. The marker file can be empty or contain optional content.

See: https://github.com/ament/ament_cmake/blob/jazzy/ament_cmake_core/doc/resource_index.md

Args:
ctx: The rule context.
prefix_path: The prefix path for the ament setup.
package_name: The name of the package.
content: Optional content for the marker file. Defaults to empty string.

Returns:
The marker file object.
"""
marker_file = ctx.actions.declare_file(
paths.join(prefix_path, _PACKAGES_PATH, package_name),
)
ctx.actions.write(marker_file, content)
return marker_file

def _write_package_xml(ctx, prefix_path, package_name):
"""Writes a package.xml file for the package.

Creates the package.xml file at share/<package_name>/package.xml

Args:
ctx: The rule context.
prefix_path: The prefix path for the ament setup.
package_name: The name of the package.

Returns:
The package.xml file object.
"""
package_xml = ctx.actions.declare_file(
paths.join(prefix_path, _PACKAGES_PATH, package_name, _PACKAGE_XML),
paths.join(prefix_path, "share", package_name, _PACKAGE_XML),
)
ctx.actions.write(package_xml, _PACKAGE_XML_TEMPLATE.format(package_name = package_name))
return package_xml

def get_plugins_xml_path(plugin_package, plugin_target_name):
"""Returns prefix-path relative plugins XML file."""
return paths.join(_PACKAGES_PATH, plugin_package, plugin_target_name + "_plugins.xml")
"""Returns prefix-path relative plugins XML file.

Plugin XML files should be stored in the package's share directory,
not in the resource_index directory.
"""
return paths.join("share", plugin_package, plugin_target_name + "_plugins.xml")

def _write_plugin_manifest(ctx, prefix_path, base_package, plugin_package, plugin_target_name):
manifest = ctx.actions.declare_file(
Expand Down Expand Up @@ -126,13 +165,15 @@ def _ros2_ament_setup_rule_impl(ctx):

base_package = _get_package_name(types_to_bases_and_names.values()[0][0])
if base_package not in registered_packages:
outputs.append(_write_package_marker(ctx, prefix_path, base_package))
outputs.append(_write_package_xml(ctx, prefix_path, base_package))
registered_packages.append(base_package)

plugin_package = _get_package_name(types_to_bases_and_names.keys()[0])
if plugin_package not in registered_packages:
outputs.append(_write_package_marker(ctx, prefix_path, plugin_package))
outputs.append(_write_package_xml(ctx, prefix_path, plugin_package))
registered_packages.append(base_package)
registered_packages.append(plugin_package)

outputs.append(_write_plugin_manifest(
ctx,
Expand Down Expand Up @@ -169,6 +210,7 @@ def _ros2_ament_setup_rule_impl(ctx):
package_name = plugin.package_name

if package_name not in registered_packages:
outputs.append(_write_package_marker(ctx, prefix_path, package_name))
outputs.append(_write_package_xml(ctx, prefix_path, package_name))
registered_packages.append(package_name)
dynamic_library = ctx.actions.declare_file(
Expand Down Expand Up @@ -196,6 +238,7 @@ def _ros2_ament_setup_rule_impl(ctx):
for idl in idls:
package_name = idl.package_name
if package_name not in registered_packages:
outputs.append(_write_package_marker(ctx, prefix_path, package_name))
outputs.append(_write_package_xml(ctx, prefix_path, package_name))
registered_packages.append(package_name)
idl_manifest_contents = []
Expand Down
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