Refactor/exported symbols

examples/actions/py_server.py

@@ -11,9 +11,14 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
+import sys
 import threading
 import time
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import rclpy
 from fibonacci_msgs.action import Fibonacci
 from rclpy.action import ActionServer

examples/chatter/py_talker.py

@@ -11,6 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
+import sys
+
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import rclpy
 from rclpy import node
 from std_msgs.msg import String

repositories/class_loader.BUILD.bazel

@@ -3,24 +3,9 @@
 
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
 
-cc_binary(
-    name = "class_loader.so",
-    srcs = glob([
-        "src/*.cpp",
-        "include/class_loader/*.hpp",
-    ]),
-    copts = ["-std=c++17"],
-    includes = ["include"],
-    linkshared = True,
-    deps = [
-        "@console_bridge",
-        "@ros2_rcpputils//:rcpputils",
-    ],
-)
-
 cc_library(
     name = "class_loader",
-    srcs = ["class_loader.so"],
+    srcs = glob(["src/*.cpp"]),
     hdrs = glob(["include/class_loader/*.hpp"]),
     copts = ["-std=c++17"],
     includes = ["include"],

repositories/ros2_repo_mappings.yaml

@@ -90,9 +90,6 @@ repositories:
   rmw_cyclonedds:
     name: ros2_rmw_cyclonedds
     build_file: "@com_github_mvukov_rules_ros2//repositories:rmw_cyclonedds.BUILD.bazel"
-    patch_args: ["-p1"]
-    patches:
-      - "@com_github_mvukov_rules_ros2//repositories/patches:rmw_cyclonedds-fix-typesupport-conditions-bug.patch"
   rmw_dds_common:
     name: ros2_rmw_dds_common
     build_file: "@com_github_mvukov_rules_ros2//repositories:rmw_dds_common.BUILD.bazel"

repositories/ros2_repositories_impl.bzl

@@ -237,8 +237,6 @@ def ros2_repositories_impl():
         http_archive,
         name = "ros2_rmw_cyclonedds",
         build_file = "@com_github_mvukov_rules_ros2//repositories:rmw_cyclonedds.BUILD.bazel",
-        patch_args = ["-p1"],
-        patches = ["@com_github_mvukov_rules_ros2//repositories/patches:rmw_cyclonedds-fix-typesupport-conditions-bug.patch"],
         sha256 = "58ef4fe3fd18eb723906df77eb10df1e69222b451e479c6ec85426ba48e16a8a",
         strip_prefix = "rmw_cyclonedds-1.3.4",
         url = "https://github.com/ros2/rmw_cyclonedds/archive/refs/tags/1.3.4.tar.gz",

ros2/BUILD.bazel

@@ -10,6 +10,7 @@ exports_files([
     "bag.bzl",
     "bag.py.tpl",
     "cc_defs.bzl",
+    "exported_symbols.lds",
     "interfaces.bzl",
     "launch.bzl",
     "launch.py.tpl",

ros2/bag.py.tpl

@@ -1,6 +1,8 @@
 import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
 import ros2.ros2_cmd
 import ros2bag.verb.convert
 import ros2bag.verb.info

ros2/cc_defs.bzl

@@ -14,6 +14,15 @@ def _ros2_cc_target(target, lang, name, ros2_package_name, **kwargs):
         fail("lang must be set to c or cpp!")
     all_copts = all_copts + kwargs.pop("copts", [])
 
+    # This solution requires Bazel 6.4.0. https://github.com/bazelbuild/bazel/issues/17788
+    # all_linkopts = ["-Wl,--dynamic-list=$(location @com_github_mvukov_rules_ros2//ros2:exported_symbols.lds)"] + kwargs.pop("linkopts", [])
+    # kwargs["linkopts"] = all_linkopts
+    # all_additional_linker_inputs = ["@com_github_mvukov_rules_ros2//ros2:exported_symbols.lds"] + kwargs.pop("additional_linker_inputs", [])
+    # kwargs["additional_linker_inputs"] = all_additional_linker_inputs
+
+    all_linkopts = ["-Wl,--export-dynamic"] + kwargs.pop("linkopts", [])
+    kwargs["linkopts"] = all_linkopts
+
     ros2_package_name = ros2_package_name or name
     all_local_defines = ["ROS_PACKAGE_NAME=\\\"{}\\\"".format(ros2_package_name)]
     all_local_defines = all_local_defines + kwargs.pop("local_defines", [])

ros2/exported_symbols.lds

@@ -0,0 +1,5 @@
+{
+  rosidl_typesupport_introspection_c__identifier;
+  *rosidl_typesupport_introspection_cpp*typesupport_identifier*;
+  *class_loader*impl*;
+};

ros2/launch.py.tpl

@@ -1,6 +1,8 @@
 import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
 from ros2cli import cli
 from ros2launch.command import launch
 

ros2/pytest_wrapper.py.tpl

@@ -5,6 +5,8 @@ import os
 import pathlib
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
 import coverage
 import domain_coordinator
 import pytest

ros2/ros2_lifecycle.py

@@ -11,8 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import ros2cli.cli
 import ros2lifecycle.verb.get
 import ros2lifecycle.verb.list

ros2/ros2_node.py

@@ -11,8 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import ros2cli.cli
 import ros2node.verb.info
 import ros2node.verb.list

ros2/ros2_param.py

@@ -11,8 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import ros2cli.cli
 import ros2param.verb.delete
 import ros2param.verb.describe

ros2/ros2_service.py

@@ -11,8 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import ros2cli.cli
 import ros2service.verb.call
 import ros2service.verb.find

ros2/ros2_topic.py

@@ -11,8 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import ros2cli.cli
 import ros2topic.verb.bw
 import ros2topic.verb.delay

ros2/test.py.tpl

@@ -2,6 +2,8 @@ import contextlib
 import os
 import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
 import domain_coordinator
 import launch_testing.launch_test
 import launch_testing_ros

ros2/test/pluginlib/py_loader_tests.py

@@ -11,6 +11,11 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-from ros2.test.pluginlib import py_loader
+import os
+import sys
+
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+from ros2.test.pluginlib import py_loader  # noqa: E402
 
 py_loader.load_plugins()

ros2/test/rosbag/write_to_bag_tests.py

@@ -11,8 +11,13 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import os
 import pathlib
+import sys
 
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
+
+# ruff: noqa: E402
 import pytest
 import rosbag2_py