From ba42a2b79e19dcd281e45aee2194547a22dd5417 Mon Sep 17 00:00:00 2001
From: Aditya Pande <adityapande@google.com>
Date: Thu, 24 Aug 2023 05:02:30 +0000
Subject: [PATCH] Supply launch_file as cmdline to the base script

Signed-off-by: Aditya Pande <adityapande@google.com>
---
 bazel_ros2_rules/ros2/ros_py.bzl                      |  6 ++++++
 bazel_ros2_rules/ros2/tools/roslaunch_base.py         | 11 +++++++++--
 .../ros2_example_apps/BUILD.bazel                     | 11 ++++++++---
 3 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/bazel_ros2_rules/ros2/ros_py.bzl b/bazel_ros2_rules/ros2/ros_py.bzl
index cb69f46a..a54ec02d 100644
--- a/bazel_ros2_rules/ros2/ros_py.bzl
+++ b/bazel_ros2_rules/ros2/ros_py.bzl
@@ -130,6 +130,9 @@ def ros_py_binary(
     )
     py_binary_rule(name = name, **kwargs)
 
+def _impl_ros_launch(ctx):
+  pass
+
 def ros_launch(
         name,
         main = "@bazel_ros2_rules//ros2:roslaunch_base.py",
@@ -143,12 +146,15 @@ def ros_launch(
       kwargs["data"] = []
     if "srcs" not in kwargs.keys():
       kwargs["srcs"] = []
+    if "args" not in kwargs.keys():
+      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["data"] += [launch_file]
+    kwargs["args"] += [launch_file]
 
     ros_py_binary(
       name = name,
diff --git a/bazel_ros2_rules/ros2/tools/roslaunch_base.py b/bazel_ros2_rules/ros2/tools/roslaunch_base.py
index 19039d8a..8bfe01b7 100644
--- a/bazel_ros2_rules/ros2/tools/roslaunch_base.py
+++ b/bazel_ros2_rules/ros2/tools/roslaunch_base.py
@@ -1,6 +1,13 @@
 import subprocess
+import sys
 
-print("Hello world from roslaunch_base")
+print("ARGS: ", sys.argv[1:])
+launch_file_name = sys.argv[1]
+launch_file_dir = "ros2_example_apps"
 
-subprocess.run(["./external/ros2/ros2", "launch", "ros2_example_apps/eg_launch.py"])
+roslaunch_cli = "./external/ros2/ros2"
+action = "launch"
+launch_file = launch_file_dir + "/" + launch_file_name
+
+subprocess.run([roslaunch_cli, action, launch_file])
 # subprocess.run(["/bin/bash"])
diff --git a/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel b/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
index 5f9b1c48..66cc4ceb 100644
--- a/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
+++ b/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
@@ -201,12 +201,17 @@ ros_py_binary(
     ],
 )
 
+# ROS launch example.
+ros_py_binary(
+    name = "eg_talker",
+    srcs = ["eg_talker.py"],
+)
+
 ros_launch(
     name = "roslaunch_eg",
     launch_file = "eg_launch.py",
-    # Should contain executables to be run.
-    data = [
-        "eg_talker.py",
+    deps = [
+        ":eg_talker",
     ],
 )