Miscellaneous scrapping fixes

bazel_ros2_rules/ros2/resources/cmake_tools/file_api.py

@@ -69,7 +69,16 @@ def __init__(self, target_file: Path):
                 if fragment['role'] == 'flags':
                     self.link_flags.append(fragment['fragment'])
                 elif fragment['role'] == 'libraries':
-                    self.link_libraries.append(fragment['fragment'])
+                    # In the generated JSON a library can be in quotes, in
+                    # order to escape some characters.
+                    # This escaping creates problem down the line,
+                    # "/usr/lib/libfoo.so" is *not* a path.
+                    # We remove the escaping here so they can be treated normally
+                    link_library = fragment['fragment']
+                    if link_library.startswith('"') and \
+                            link_library.endswith('"'):
+                        link_library = link_library.strip('"')
+                    self.link_libraries.append(link_library)
                 elif fragment['role'] == 'libraryPath':
                     self.link_search_paths.append(fragment['fragment'])
                 elif fragment['role'] == 'frameworkPath':

bazel_ros2_rules/ros2/resources/ros2bzl/scraping/metadata.py

@@ -1,10 +1,27 @@
 import os
 import xml.etree.ElementTree as ET
 
+# Remove elements that have a condition attribute on ROS1
+def remove_ros1_elements(root):
+    ros1_condition_value = '$ROS_VERSION == 1'
+    elements_to_remove = []
+
+    for parent in root.iter():
+        for child in list(parent):
+            if 'condition' in child.attrib:
+                if child.get('condition') == ros1_condition_value:
+                    elements_to_remove.append((parent, child))
+                else:
+                    child.attrib.pop('condition')
+
+    for parent, child in elements_to_remove:
+        parent.remove(child)
 
 def parse_package_xml(path_to_package_xml):
     tree = ET.parse(path_to_package_xml)
 
+    remove_ros1_elements(tree.getroot())
+
     depends = set([
         tag.text for tag in tree.findall('./depend')
     ])

bazel_ros2_rules/ros2/resources/ros2bzl/scraping/python.py

@@ -15,13 +15,14 @@
 EXTENSION_SUFFIX: Final[str] = sysconfig.get_config_var('EXT_SUFFIX')
 
 
-def find_package(name: str) -> Tuple[str, str]:
+def find_package(name: str) -> Tuple[str, list[str]]:
     """Find a Python package path and top level module path given its `name`."""
     dist = importlib.metadata.distribution(name)
     top_level = dist.read_text('top_level.txt')
     packages = top_level.splitlines()
-    assert len(packages) == 1
-    return str(dist._path), str(dist.locate_file(packages[0]))
+    assert len(packages) >= 1
+    top_levels = [str(dist.locate_file(package)) for package in packages]
+    return str(dist._path), top_levels
 
 
 def get_packages_with_prefixes(prefixes: Optional[Sequence[str]] = None) -> Dict[str, pathlib.Path]:
@@ -50,9 +51,17 @@ def get_packages_with_prefixes(prefixes: Optional[Sequence[str]] = None) -> Dict
 def collect_python_package_properties(name: str, metadata: Dict[str, Any]) -> PyProperties:
     """Collect Python library properties given package `name` and `metadata`."""
     properties = PyProperties()
-    egg_path, top_level = find_package(name)
-    properties.python_packages = tuple([(egg_path, top_level)])
-    cc_libraries = glob.glob('{}/**/*.so'.format(top_level), recursive=True)
+    egg_path, top_levels = find_package(name)
+    properties.python_packages = tuple(
+        [(egg_path, top_level) for top_level in top_levels]
+    )
+    cc_libraries = sum(
+        [
+            glob.glob("{}/**/*.so".format(top_level), recursive=True)
+            for top_level in top_levels
+        ],
+        [],
+    )
     if cc_libraries:
         cc_libraries.extend(set(
             dep for library in cc_libraries

bazel_ros2_rules/ros2/resources/templates/package_cc_library.bazel.tpl

@@ -1,7 +1,11 @@
 cc_library(
     name = @name@,
     srcs = @srcs@,
-    hdrs = glob(["{}/**/*.h*".format(x) for x in @headers@], allow_empty = True),
+    hdrs = glob(
+        ["{}/**/*.h*".format(x) for x in @headers@] +
+        ["{}/**/*.inc".format(x) for x in @headers@],
+        allow_empty = True,
+    ),
     includes = @includes@,
     copts = @copts@,
     defines = @defines@,