[ci] Enable Bazel CI for drake_ros_examples (#252)

This will fail on main

.github/workflows/bazelized_drake_ros.yml

@@ -24,7 +24,7 @@ jobs:
         run: du -hs $(readlink -f /home/runner/.cache/ci)
       - name: Simplify apt upgrades
         run: .github/simplify_apt_and_upgrades.sh
-      - name: Configure Bazel for CI
+      - name: Configure drake_ros Bazel for CI
         run: ln -s ../.github/ci.bazelrc ./user.bazelrc
         working-directory: drake_ros
       - name: Install ROS tools (like rosdep)
@@ -45,9 +45,23 @@ jobs:
         # but can't download the archive with bazel until we have the dependencies installed
         # so bazel_ros2_rules can inspect it.
         run: sudo apt-get install -y libconsole-bridge-dev
-      - name: Build drake_ros
+      # # CI for drake_ros.
+      # - name: Build drake_ros
+      #   run: bazel build //...
+      #   working-directory: drake_ros
+      # - name: Test drake_ros
+      #   run: bazel test //...
+      #   working-directory: drake_ros
+      # CI for drake_ros_examples.
+      - name: Install additional ROS dependencies for drake_ros_examples
+        run: yes | sudo ./setup/install_prereqs.sh
+        working-directory: drake_ros_examples
+      - name: Configure drake_ros_examples Bazel for CI
+        run: ln -s ../.github/ci.bazelrc ./user.bazelrc
+        working-directory: drake_ros_examples
+      - name: Build drake_ros_examples
         run: bazel build //...
-        working-directory: drake_ros
-      - name: Test drake_ros
+        working-directory: drake_ros_examples
+      - name: Test drake_ros_examples
         run: bazel test //...
-        working-directory: drake_ros
+        working-directory: drake_ros_examples

drake_ros_examples/setup/install_prereqs.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+set -euo pipefail
+
+cat_without_comments() {
+    sed -e 's|#.*||g;' "$(dirname $0)/$1"
+}
+
+apt_install () {
+  apt-get -q install --no-install-recommends "$@"
+}
+
+apt_install $(cat_without_comments packages-ros2.txt)

drake_ros_examples/setup/packages-ros2.txt

@@ -0,0 +1,90 @@
+# TODO(eric, shane): This is copied from Anzu's codebase. We should hoist the
+# tooling used to generate this, including the linting check.
+
+# APT-SOURCE: http://packages.ros.org/ros2/ubuntu
+libignition-cmake2-dev
+libignition-math6-dev
+python3-catkin-pkg-modules
+python3-rosdistro-modules
+
+# APT-SOURCE: http://*.ubuntu.com/ubuntu
+clang-format
+clang-tidy
+cmake
+cppcheck
+curl
+google-mock
+graphviz
+libassimp-dev
+libatomic1
+libbenchmark-dev
+libboost-python1.74.0
+libbullet-dev
+libconsole-bridge-dev
+libcurl4-openssl-dev
+libeigen3-dev
+libfreetype6
+libfreetype6-dev
+libgl1-mesa-dev
+libglu1-mesa-dev
+libgtest-dev
+libopencv-dev
+liborocos-kdl-dev
+libpyside2-dev
+libqt5core5a
+libqt5gui5
+libqt5opengl5
+libqt5widgets5
+libshiboken2-dev
+libspdlog-dev
+libsqlite3-dev
+libtinyxml-dev
+libtinyxml2-dev
+libx11-dev
+libxaw7-dev
+libxml2-utils
+libxrandr-dev
+libyaml-cpp-dev
+libyaml-dev
+libzstd-dev
+pkg-config
+# pybind11-dev  # Ignored
+pydocstyle
+pyflakes3
+pyqt5-dev
+python3-argcomplete
+python3-babeltrace
+python3-cairo
+python3-cryptography
+python3-dev
+python3-empy
+python3-flake8
+python3-importlib-metadata
+python3-lark
+python3-lttng
+python3-lxml
+python3-matplotlib
+python3-minimal
+python3-mypy
+python3-netifaces
+python3-nose
+python3-numpy
+python3-opencv
+python3-packaging
+python3-pil
+python3-pkg-resources
+python3-psutil
+python3-pycodestyle
+python3-pydot
+python3-pykdl
+python3-pyqt5
+python3-pyqt5.qtsvg
+python3-pyside2.qtsvg
+python3-pytest
+python3-setuptools
+python3-sip-dev
+python3-yaml
+qtbase5-dev
+shiboken2
+tango-icon-theme
+uncrustify