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fix: Resolve runfiles in launch_exec templates #633

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fix: Resolve runfiles in launch_exec templates #633

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9dba395
Resolve runfiles in launch_exec.*.tpl
furushchev May 22, 2026
0a29950
Merge branch 'main' into resolve-runfiles
mvukov May 25, 2026
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3 changes: 2 additions & 1 deletion ros2/cc_defs.bzl
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Original file line number Diff line number Diff line change
Expand Up @@ -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],
Expand All @@ -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,

@mvukov mvukov May 25, 2026

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Does this mean that we had a bug before?

**launcher_target_kwargs
)

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3 changes: 2 additions & 1 deletion ros2/launch_exec.py.tpl
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@@ -1,5 +1,6 @@
import os
import sys
from python.runfiles import runfiles

@mvukov mvukov May 25, 2026

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Please insert an empty line above as this is an external dep.


env = os.environ.copy()

Expand All @@ -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)
6 changes: 4 additions & 2 deletions ros2/launch_exec.sh.tpl
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Expand Up @@ -12,10 +12,12 @@ if [ -n "${BAZEL_TEST:-}" ]; then
fi
fi

ENTRYPOINT="$(rlocation {entry_point})"

@mvukov mvukov May 25, 2026 •
edited
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Don't you have to depend on a target from rules_sh for this to work? I remember that earlier versions of rules_sh required copy/pasting of a snippet.


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
3 changes: 2 additions & 1 deletion ros2/py_defs.bzl
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Expand Up @@ -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],
Expand All @@ -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
)

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3 changes: 2 additions & 1 deletion ros2/rust_defs.bzl
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Expand Up @@ -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],
Expand All @@ -43,5 +43,6 @@ def ros2_rust_test(name, **kwargs):
name = name,
srcs = [launcher],
data = [target_impl],
use_bash_launcher = True,
**launcher_target_kwargs
)
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