From 9dba3957f19b089a307d74460c3baf244249f5d2 Mon Sep 17 00:00:00 2001
From: Yuki Furuta <y.furuta@gitai.tech>
Date: Fri, 22 May 2026 10:43:41 -0700
Subject: [PATCH] Resolve runfiles in launch_exec.*.tpl

---
 ros2/cc_defs.bzl        | 3 ++-
 ros2/launch_exec.py.tpl | 3 ++-
 ros2/launch_exec.sh.tpl | 6 ++++--
 ros2/py_defs.bzl        | 3 ++-
 ros2/rust_defs.bzl      | 3 ++-
 5 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ros2/cc_defs.bzl b/ros2/cc_defs.bzl
index 524c5407..010bbaef 100644
--- a/ros2/cc_defs.bzl
+++ b/ros2/cc_defs.bzl
@@ -87,7 +87,7 @@ def _ros2_cpp_exec(target, name, ros2_package_name, set_up_ament, idl_deps, **kw
         ament_setup_deps = ament_setup_deps,
         template = "@com_github_mvukov_rules_ros2//ros2:launch_exec.sh.tpl",
         substitutions = {
-            "{entry_point}": "$(rootpath {})".format(target_impl),
+            "{entry_point}": "$(rlocationpath {})".format(target_impl),
         },
         tags = ["manual"],
         data = [target_impl],
@@ -100,6 +100,7 @@ def _ros2_cpp_exec(target, name, ros2_package_name, set_up_ament, idl_deps, **kw
         name = name,
         srcs = [launcher],
         data = [target_impl],
+        use_bash_launcher = True,
         **launcher_target_kwargs
     )
 
diff --git a/ros2/launch_exec.py.tpl b/ros2/launch_exec.py.tpl
index 5b6a2cd6..84189826 100644
--- a/ros2/launch_exec.py.tpl
+++ b/ros2/launch_exec.py.tpl
@@ -1,5 +1,6 @@
 import os
 import sys
+from python.runfiles import runfiles
 
 env = os.environ.copy()
 
@@ -16,5 +17,5 @@ if not ament_prefix_path:
 else:
     env["AMENT_PREFIX_PATH"] = ament_prefix_path
 
-entry_point = "{entry_point}"
+entry_point = runfiles.Create().Rlocation("{entry_point}")
 os.execve(entry_point, [entry_point, *sys.argv[1:]], env)
diff --git a/ros2/launch_exec.sh.tpl b/ros2/launch_exec.sh.tpl
index ab6f5792..46b239d0 100644
--- a/ros2/launch_exec.sh.tpl
+++ b/ros2/launch_exec.sh.tpl
@@ -12,10 +12,12 @@ if [ -n "${BAZEL_TEST:-}" ]; then
   fi
 fi
 
+ENTRYPOINT="$(rlocation {entry_point})"
+
 ament_prefix_path="{{ament_prefix_path}}"
 if [ -z "${ament_prefix_path}" ]; then
   unset AMENT_PREFIX_PATH
-  exec {entry_point} "$@"
+  exec ${ENTRYPOINT} "$@"
 else
-  AMENT_PREFIX_PATH="${ament_prefix_path}" exec {entry_point} "$@"
+  AMENT_PREFIX_PATH="${ament_prefix_path}" exec ${ENTRYPOINT} "$@"
 fi
diff --git a/ros2/py_defs.bzl b/ros2/py_defs.bzl
index 40fef7e3..1a98abd0 100644
--- a/ros2/py_defs.bzl
+++ b/ros2/py_defs.bzl
@@ -37,7 +37,7 @@ def _ros2_py_exec(target, name, srcs, main, set_up_ament, testonly, **kwargs):
         ament_setup_deps = ament_setup_deps,
         template = "@com_github_mvukov_rules_ros2//ros2:launch_exec.py.tpl",
         substitutions = {
-            "{entry_point}": "$(rootpath {})".format(target_impl_symlink),
+            "{entry_point}": "$(rlocationpath {})".format(target_impl_symlink),
         },
         tags = ["manual"],
         data = [target_impl_symlink],
@@ -50,6 +50,7 @@ def _ros2_py_exec(target, name, srcs, main, set_up_ament, testonly, **kwargs):
         srcs = [launcher],
         main = launcher + ".py",
         data = [target_impl_symlink],
+        deps = ["@rules_python//python/runfiles"],
         **launcher_target_kwargs
     )
 
diff --git a/ros2/rust_defs.bzl b/ros2/rust_defs.bzl
index cae114a4..1559c1a6 100644
--- a/ros2/rust_defs.bzl
+++ b/ros2/rust_defs.bzl
@@ -32,7 +32,7 @@ def ros2_rust_test(name, **kwargs):
         name = launcher,
         template = "@com_github_mvukov_rules_ros2//ros2:launch_exec.sh.tpl",
         substitutions = {
-            "{entry_point}": "$(rootpath {})".format(target_impl),
+            "{entry_point}": "$(rlocationpath {})".format(target_impl),
         },
         tags = ["manual"],
         data = [target_impl],
@@ -43,5 +43,6 @@ def ros2_rust_test(name, **kwargs):
         name = name,
         srcs = [launcher],
         data = [target_impl],
+        use_bash_launcher = True,
         **launcher_target_kwargs
     )