[drake_ros] Vendor in VTK 9 depdendency

RobotLocomotion · Oct 27, 2023 · e475875 · e475875
1 parent 8e8f411
commit e475875
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Showing 7 changed files with 249 additions and 3 deletions.
diff --git a/.github/workflows/bazelized_drake_ros.yml b/.github/workflows/bazelized_drake_ros.yml
@@ -54,7 +54,7 @@ jobs:
         # TODO(sloretz) can't use rosdep here because we need the archive downloaded,
         # 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
+        run: sudo apt-get install -y libconsole-bridge-dev libvtk9-dev
       # CI for drake_ros.
       - name: Build drake_ros
         run: bazel build //...

diff --git a/drake_ros/WORKSPACE b/drake_ros/WORKSPACE
@@ -48,4 +48,8 @@ http_archive(
 
 load("@drake//tools/workspace:default.bzl", "add_default_workspace")
 
-add_default_workspace()
+add_default_workspace(repository_excludes = ["vtk"])
+
+load("//tools/workspace/vtk:repository.bzl", "vtk_repository")
+
+vtk_repository(name = "vtk")
diff --git a/drake_ros/tools/workspace/BUILD.bazel b/drake_ros/tools/workspace/BUILD.bazel
@@ -0,0 +1 @@
+# Empty BUILD file to mark package boundaries.
diff --git a/drake_ros/tools/workspace/vtk/BUILD.bazel b/drake_ros/tools/workspace/vtk/BUILD.bazel
@@ -0,0 +1 @@
+# Empty BUILD file to mark package boundaries.
diff --git a/drake_ros/tools/workspace/vtk/package.BUILD.bazel b/drake_ros/tools/workspace/vtk/package.BUILD.bazel
@@ -0,0 +1,223 @@
+# -*- mode: python -*-
+# vi: set ft=python :
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "_headers",
+    hdrs = glob(["include/vtk-9.1/**"]),
+    includes = ["include/vtk-9.1"],
+)
+
+# Header-only libraries.
+alias(name = "vtkkwiml", actual = "_headers")
+alias(name = "vtkfmt", actual = "_headers")
+
+# Shared libraries.
+_LIB_DEPS = {
+    "vtkCommonColor": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+    ],
+    "vtkCommonComputationalGeometry": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+    ],
+    "vtkCommonCore": [
+        ":vtkkwiml",
+        ":vtkloguru",
+        ":vtksys",
+    ],
+    "vtkCommonDataModel": [
+        ":vtkCommonCore",
+        ":vtkCommonMath",
+        ":vtkCommonMisc",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtksys",
+        ":vtkpugixml",
+    ],
+    "vtkCommonExecutionModel": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonMisc",
+        ":vtkCommonSystem",
+    ],
+    "vtkCommonMath": [
+        ":vtkCommonCore",
+        ":vtkkissfft",
+    ],
+    "vtkCommonMisc": [
+        ":vtkCommonCore",
+        ":vtkCommonMath",
+        ":vtksys",
+    ],
+    "vtkCommonSystem": [
+        ":vtkCommonCore",
+        ":vtksys",
+    ],
+    "vtkCommonTransforms": [
+        ":vtkCommonCore",
+        ":vtkCommonMath",
+        ":vtksys",
+    ],
+    "vtkDICOMParser": [
+        ":vtksys",
+    ],
+    "vtkFiltersCore": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonMisc",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtksys",
+    ],
+    "vtkFiltersGeneral": [
+        ":vtkCommonComputationalGeometry",
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonMisc",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtkFiltersCore",
+        ":vtkfmt",
+    ],
+    "vtkFiltersGeometry": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkFiltersCore",
+        ":vtksys",
+    ],
+    "vtkFiltersHybrid": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonMisc",
+        ":vtkCommonTransforms",
+        ":vtkFiltersGeometry",
+        ":vtkFiltersCore",
+        ":vtkFiltersGeneral",
+        ":vtkImagingCore",
+        ":vtkImagingSources",
+        ":vtkRenderingCore",
+        ":vtksys",
+    ],
+    "vtkFiltersSources": [
+        ":vtkCommonComputationalGeometry",
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonTransforms",
+        ":vtkFiltersCore",
+        ":vtkFiltersGeneral",
+    ],
+    "vtkIOCore": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMisc",
+        ":vtksys",
+    ],
+    "vtkIOGeometry": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMisc",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtkFiltersGeneral",
+        ":vtkFiltersHybrid",
+        ":vtkImagingCore",
+        ":vtkIOCore",
+        ":vtkIOImage",
+        ":vtkIOLegacy",
+        ":vtkRenderingCore",
+        ":vtksys",
+    ],
+    "vtkIOImage": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonMisc",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtkDICOMParser",
+        ":vtkImagingCore",
+        ":vtkmetaio",
+        ":vtkpugixml",
+        ":vtksys",
+    ],
+    "vtkIOLegacy": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMisc",
+        ":vtkIOCore",
+        ":vtksys",
+    ],
+    "vtkImagingCore": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonTransforms",
+    ],
+    "vtkImagingSources": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkImagingCore",
+    ],
+    "vtkRenderingCore": [
+        ":vtkCommonColor",
+        ":vtkCommonComputationalGeometry",
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtkFiltersCore",
+        ":vtkFiltersGeneral",
+        ":vtkFiltersGeometry",
+        ":vtkFiltersSources",
+        ":vtksys",
+    ],
+    "vtkRenderingOpenGL2": [
+        ":vtkCommonCore",
+        ":vtkCommonDataModel",
+        ":vtkCommonExecutionModel",
+        ":vtkCommonMath",
+        ":vtkCommonSystem",
+        ":vtkCommonTransforms",
+        ":vtkFiltersGeneral",
+        ":vtkRenderingCore",
+        ":vtkRenderingUI",
+        ":vtksys",
+    ],
+    "vtkRenderingUI": [
+        ":vtkRenderingCore",
+    ],
+    "vtkkissfft": [],
+    "vtkloguru": [],
+    "vtkmetaio": [],
+    "vtkpugixml": [],
+    "vtksys": [],
+}
+
+# Add a rule for each shared library.
+[
+    cc_library(
+        name = name,
+        linkopts = ["-l{}-9.1".format(name)],
+        deps = [":_headers"] + deps,
+    )
+    for name, deps in _LIB_DEPS.items()
+]
diff --git a/drake_ros/tools/workspace/vtk/repository.bzl b/drake_ros/tools/workspace/vtk/repository.bzl
@@ -0,0 +1,13 @@
+def _impl(repository_ctx):
+    repository_ctx.symlink(
+        "/usr/include/vtk-9.1",
+        "include/vtk-9.1",
+    )
+    repository_ctx.symlink(
+        Label("@//tools/workspace/vtk:package.BUILD.bazel"),
+        "BUILD.bazel",
+    )
+
+vtk_repository = repository_rule(
+    implementation = _impl,
+)
diff --git a/drake_ros_examples/WORKSPACE b/drake_ros_examples/WORKSPACE
@@ -73,4 +73,8 @@ http_archive(
 
 load("@drake//tools/workspace:default.bzl", "add_default_workspace")
 
-add_default_workspace()
+add_default_workspace(repository_excludes = ["vtk"])
+
+load("@drake_ros_repo//tools/workspace/vtk:repository.bzl", "vtk_repository")
+
+vtk_repository(name = "vtk")