Added xml eg and cc listener

Signed-off-by: Aditya Pande <[email protected]>

bazel_ros2_rules/ros2/BUILD.bazel

@@ -23,8 +23,8 @@ py_library(
 )
 
 py_library(
-    name = "roslaunch_base.py",
-    srcs = ["tools/roslaunch_base.py"],
+    name = "roslaunch_util.py",
+    srcs = ["tools/roslaunch_util.py"],
     visibility = ["//visibility:public"],
     deps = ["@bazel_tools//tools/python/runfiles"],
 )

bazel_ros2_rules/ros2/ros_py.bzl

@@ -130,14 +130,15 @@ def ros_py_binary(
     )
     py_binary_rule(name = name, **kwargs)
 
+# Use impl pattern here, obtain the workspace from ctx.
 def _impl_ros_launch(ctx):
   pass
 
 def ros_launch(
         name,
-        main = "@bazel_ros2_rules//ros2:roslaunch_base.py",
-        launch_file_dir = None,
+        main = "@bazel_ros2_rules//ros2:roslaunch_util.py",
         launch_file = None,
+        node_targets = [],
         **kwargs):
 
     if "deps" not in kwargs.keys():
@@ -150,10 +151,11 @@ def ros_launch(
       kwargs["args"] = []
 
     kwargs["deps"] += ["@ros2//:ros2"]
-    kwargs["deps"] += ["@bazel_ros2_rules//ros2:roslaunch_base.py"]
-    kwargs["srcs"] = ["@bazel_ros2_rules//ros2:roslaunch_base.py"]
+    kwargs["deps"] += ["@bazel_ros2_rules//ros2:roslaunch_util.py"]
+    kwargs["srcs"] = ["@bazel_ros2_rules//ros2:roslaunch_util.py"]
 
     kwargs["data"] += [launch_file]
+    kwargs["data"] += node_targets
     kwargs["args"] += [launch_file]
 
     ros_py_binary(

bazel_ros2_rules/ros2/tools/roslaunch_base.py → bazel_ros2_rules/ros2/tools/roslaunch_util.py

@@ -1,8 +1,9 @@
 import subprocess
 import sys
 
-print("ARGS: ", sys.argv[1:])
+# print("ARGS: ", sys.argv[1:])
 launch_file_name = sys.argv[1]
+# TODO (Aditya) : dir should not be hardcoded here.
 launch_file_dir = "ros2_example_apps"
 
 roslaunch_cli = "./external/ros2/ros2"

ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel

@@ -204,14 +204,37 @@ ros_py_binary(
 # ROS launch example.
 ros_py_binary(
     name = "eg_talker",
-    srcs = ["eg_talker.py"],
+    srcs = ["roslaunch_eg_nodes/eg_talker.py"],
+    deps = [
+        "@ros2//:rclpy_py",
+        "@ros2//:std_msgs_py",
+    ]
+)
+
+ros_cc_binary(
+    name = "eg_listener",
+    srcs = ["roslaunch_eg_nodes/eg_listener.cpp"],
+    deps = [
+        "@ros2//:rclcpp_cc",
+        "@ros2//:std_msgs_cc",
+    ],
 )
 
 ros_launch(
-    name = "roslaunch_eg",
+    name = "roslaunch_eg_py",
     launch_file = "eg_launch.py",
-    deps = [
+    node_targets = [
+        ":eg_talker",
+        ":eg_listener",
+    ],
+)
+
+ros_launch(
+    name = "roslaunch_eg_xml",
+    launch_file = "eg_launch.xml",
+    node_targets = [
         ":eg_talker",
+        ":eg_listener",
     ],
 )
 

ros2_example_bazel_installed/ros2_example_apps/eg_launch.py

@@ -3,7 +3,12 @@
 
 def generate_launch_description():
     return LaunchDescription([
+        # Running a talker python node.
         ExecuteProcess(
-            cmd=['python3','ros2_example_apps/eg_talker.py'],
+            cmd=['python3','ros2_example_apps/roslaunch_eg_nodes/eg_talker.py'],
+        ),
+        # Running a listener python node.
+        ExecuteProcess(
+            cmd=['./ros2_example_apps/eg_listener'],
         ),
     ])

ros2_example_bazel_installed/ros2_example_apps/eg_launch.xml

@@ -0,0 +1,4 @@
+<launch>
+  <executable cmd="python3 ros2_example_apps/roslaunch_eg_nodes/eg_talker.py"/>
+  <executable cmd="./ros2_example_apps/eg_listener"/>
+</launch>

ros2_example_bazel_installed/ros2_example_apps/roslaunch_eg_nodes/eg_listener.cpp

@@ -0,0 +1,31 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+using std::placeholders::_1;
+
+class MinimalSubscriber : public rclcpp::Node
+{
+  public:
+    MinimalSubscriber()
+    : Node("minimal_subscriber")
+    {
+      subscription_ = this->create_subscription<std_msgs::msg::String>(
+      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
+    }
+
+  private:
+    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+    {
+      RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+    }
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}