feat: add ros2 interface CLI command support

examples/chatter/BUILD.bazel

@@ -1,5 +1,6 @@
 load("@com_github_mvukov_rules_ros2//ros2:bag.bzl", "ros2_bag")
 load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_binary")
+load("@com_github_mvukov_rules_ros2//ros2:interface.bzl", "ros2_interface")
 load("@com_github_mvukov_rules_ros2//ros2:launch.bzl", "ros2_launch")
 load("@com_github_mvukov_rules_ros2//ros2:rust_interfaces.bzl", "rust_ros2_interface_library")
 load("@com_github_mvukov_rules_ros2//ros2:test.bzl", "ros2_test")
@@ -77,6 +78,13 @@ ros2_topic(
     ],
 )
 
+ros2_interface(
+    name = "interface",
+    deps = [
+        "@ros2_common_interfaces//:py_std_msgs",
+    ],
+)
+
 ros2_bag(
     name = "bag",
     idl_deps = [

ros2/BUILD.bazel

@@ -14,6 +14,7 @@ exports_files([
     "bag.bzl",
     "bag.py.tpl",
     "cc_defs.bzl",
+    "interface.bzl",
     "interfaces.bzl",
     "launch.bzl",
     "launch_exec.py.tpl",
@@ -22,6 +23,7 @@ exports_files([
     "py_defs.bzl",
     "pytest_wrapper.py.tpl",
     "ros2_action.py",
+    "ros2_interface.py",
     "ros2_launch.py.tpl",
     "ros2_service.py",
     "ros2_topic.py",

ros2/interface.bzl

@@ -0,0 +1,44 @@
+# 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.
+
+""" Implements a macro for setting up a ROS 2 interface app.
+"""
+
+load("//ros2:py_defs.bzl", "ros2_py_binary")
+
+
+def ros2_interface(name, deps, **kwargs):
+    """ Defines a ROS 2 interface app for a set of deps.
+
+    Args:
+        name: A unique target name.
+        deps: A list of Python targets: typically IDL libraries
+        (py_ros2_interface_library targets) used by the topic app.
+        **kwargs: https://bazel.build/reference/be/common-definitions#common-attributes-binaries
+    """
+
+    ros2_py_binary(
+        name = name,
+        srcs = ["@com_github_mvukov_rules_ros2//ros2:ros2_interface.py"],
+        main = "@com_github_mvukov_rules_ros2//ros2:ros2_interface.py",
+        deps = [
+            "@com_github_mvukov_rules_ros2//ros2:ros2_cmd",
+            "@ros2_rcl_interfaces//:py_action_msgs",
+            "@ros2_rcl_interfaces//:py_builtin_interfaces",
+            "@ros2_rcl_interfaces//:py_rcl_interfaces",
+            "@ros2cli",
+            "@ros2cli//:ros2interface",
+            "@ros2_rosidl//:rosidl_adapter_lib",
+        ] + deps,
+        set_up_ament = True,
+        **kwargs
+    )

ros2/ros2_interface.py

@@ -0,0 +1,33 @@
+# 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.
+
+import sys
+
+import ros2cli.cli
+import ros2interface.verb.list
+import ros2interface.verb.package
+import ros2interface.verb.packages
+import ros2interface.verb.proto
+import ros2interface.verb.show
+
+import ros2.ros2_cmd
+
+COMMAND_EXTENSIONS = {
+    'list': ros2interface.verb.list.ListVerb(),
+    'package': ros2interface.verb.package.PackageVerb(),
+    'packages': ros2interface.verb.packages.PackagesVerb(),
+    'proto': ros2interface.verb.proto.ProtoVerb(),
+    'show': ros2interface.verb.show.ShowVerb(),
+}
+
+extension = ros2.ros2_cmd.Ros2CommandExtension(COMMAND_EXTENSIONS)
+sys.exit(ros2cli.cli.main(argv=sys.argv[1:], extension=extension))