Added support for data and test

Author: julianadrianheine

bazel_ros2_rules/lib/private/xacro.bzl

@@ -47,7 +47,7 @@ def _ros_xacro_impl(ctx):
     args.add("-o", output)
     args.add_all(ctx.attr.xacro_args)
     ctx.actions.run(
-        inputs = [ctx.file.src] + ctx.files.deps,
+        inputs = [ctx.file.src] + ctx.files.data,
         outputs = [output],
         executable = ctx.executable.xacro_tool,
         arguments = [args],
@@ -61,7 +61,7 @@ _ros_xacro_rule = rule(
             mandatory = True,
             doc = "The main .urdf.xacro file to process.",
         ),
-        "deps": attr.label_list(
+        "data": attr.label_list(
             allow_files = [".xacro"],
             default = [],
             doc = "Additional .xacro files included via relative paths.",
@@ -80,7 +80,7 @@ _ros_xacro_rule = rule(
     implementation = _ros_xacro_impl,
 )
 
-def ros_xacro(name, src, deps = [], ros_packages = {}, xacro_args = [], visibility = None, **kwargs):
+def ros_xacro(name, src, data = [], ros_packages = {}, xacro_args = [], visibility = None, **kwargs):
     """Transforms a .urdf.xacro file into a .urdf file.
 
     User-defined packages are declared inline via the ros_packages dict.  Each
@@ -97,7 +97,7 @@ def ros_xacro(name, src, deps = [], ros_packages = {}, xacro_args = [], visibili
         ros_xacro(
             name = "example",
             src = "robot.urdf.xacro",
-            deps = ["base.xacro", "arm.xacro"],
+            data = ["base.xacro", "arm.xacro"],
             ros_packages = {
                 "my_robot": glob(["urdf/**"]),
             },
@@ -107,7 +107,7 @@ def ros_xacro(name, src, deps = [], ros_packages = {}, xacro_args = [], visibili
     Args:
         name:         target name; the output file is named <name>.urdf
         src:          the .urdf.xacro source file
-        deps:         additional .xacro files included via relative paths
+        data:         additional .xacro files included via relative paths
                       (i.e. plain <xacro:include filename="other.xacro"/>);
                       must be listed here so Bazel sandboxes them and tracks
                       them as dependencies for incremental rebuilds
@@ -154,7 +154,7 @@ def ros_xacro(name, src, deps = [], ros_packages = {}, xacro_args = [], visibili
     _ros_xacro_rule(
         name = name,
         src = src,
-        deps = deps,
+        data = data,
         xacro_args = xacro_args,
         xacro_tool = ":" + runner_name,
         visibility = visibility,

ros2_example_bazel_installed/ros2_example_xacro/BUILD.bazel

@@ -4,6 +4,7 @@ load("@ros2//:xacro.bzl", "ros_xacro")
 ros_xacro(
     name = "example",
     src = "example.urdf.xacro",
+    data = ["snippet.xacro"],
     ros_packages = {
         "my_robot": glob(["urdf/**"]),
     },

ros2_example_bazel_installed/ros2_example_xacro/example.urdf.xacro

@@ -1,5 +1,7 @@
 <!-- urdf/robot.urdf.xacro -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Should be able to include `.xacros` via a relative path (data= attribute) -->
+  <xacro:include filename="snippet.xacro"/>
   <!-- Should be able to compose with local `.xacros` -->
   <xacro:include filename="$(find my_robot)/urdf/macros.xacro"/>
   <!-- Should be able to bring `.xacros` installed in the system (via `realsense2_description` for this example)-->

ros2_example_bazel_installed/ros2_example_xacro/snippet.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<!-- A minimal xacro included via a relative path to test the data= attribute. -->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="snippet_link"/>
+</robot>

ros2_example_bazel_installed/ros2_example_xacro/test/xacro_test.py

@@ -30,7 +30,16 @@ def test_local_package_macros_expanded():
     )
 
 
+def test_relative_include_expanded():
+    """A xacro included via a relative path (data=) appears in the output."""
+    content = _read_urdf()
+    assert 'name="snippet_link"' in content, (
+        "Expected snippet_link from snippet.xacro in output:\n" + content
+    )
+
+
 if __name__ == "__main__":
     test_sim_arg_is_substituted()
     test_local_package_macros_expanded()
+    test_relative_include_expanded()
     print("All tests passed.")