ApolloAuto · startcode · Jul 5, 2017 · Jul 5, 2017
diff --git a/WORKSPACE → WORKSPACE.in b/WORKSPACE → WORKSPACE.in
@@ -173,3 +173,12 @@ new_http_archive(
     build_file = "third_party/curlpp.BUILD",
     strip_prefix = "curlpp-0.8.1",
 )
+
+#ros
+new_http_archive(
+    name = "ros",
+    url = "https://github.com/ApolloAuto/apollo-platform/releases/download/1.0.0/ros-indigo-apollo-1.0.0.MACHINE_ARCH.tar.gz",
+    build_file = "third_party/ros.BUILD",
+    strip_prefix = "ros",
+)
+
diff --git a/apollo.sh b/apollo.sh
@@ -50,15 +50,15 @@ TEST_TARGETS=""
 rm -rf ./third_party/ros
 if [ "$MACHINE_ARCH" == 'x86_64' ]; then
    IS_X86_64=true
+   sed "s/MACHINE_ARCH/x86_64/g" WORKSPACE.in > WORKSPACE
 elif [ "$MACHINE_ARCH" == 'aarch64' ]; then
    IS_AARCH64=true
+   sed "s/MACHINE_ARCH/aarch64/g" WORKSPACE.in > WORKSPACE
 fi
 
 if ! $IS_X86_64 && ! $IS_AARCH64 ; then
    fail "Unknown machine architecture $MACHINE_ARCH"
    exit 1
-else
-  ln -rs "$(pwd)/third_party/ros_$MACHINE_ARCH" "$(pwd)/third_party/ros"
 fi
 
 function check_esd_files() {
@@ -170,7 +170,7 @@ function release() {
   find modules/ -name "*.pyc" | xargs -I {} rm {}
   cp -r modules/tools $MODULES_DIR
   #ros
-  cp -Lr third_party/ros $ROOT_DIR/
+  cp -Lr bazel-apollo/external/ros $ROOT_DIR/
   #scripts
   cp -r scripts $ROOT_DIR
   #dreamview

diff --git a/docker/scripts/dev_start.sh b/docker/scripts/dev_start.sh
@@ -103,9 +103,6 @@ function main(){
         --shm-size 512M \
         $IMG
     docker exec apollo_dev bash -c '/apollo/scripts/docker_adduser.sh'
-    docker exec apollo_dev bash -c 'rm -rf /apollo/third_party/ros_*'
-    docker exec apollo_dev bash -c 'cp -Lr /root/ros_* /apollo/third_party/'
-    docker exec apollo_dev bash -c "chown -R ${USER}:${USER} /apollo"
 }
 
 main
diff --git a/modules/canbus/BUILD b/modules/canbus/BUILD
@@ -39,7 +39,7 @@ cc_binary(
         "//modules/canbus/common:canbus_common",
         "//modules/common:log",
         "//modules/common/monitor",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/canbus/canbus.h b/modules/canbus/canbus.h
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/canbus/can_client/can_client.h"
 #include "modules/canbus/can_comm/can_receiver.h"

diff --git a/modules/canbus/tools/BUILD b/modules/canbus/tools/BUILD
@@ -6,7 +6,7 @@ cc_binary(
     deps = [
         "//modules/canbus:canbus_lib",
         "//modules/common",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 
@@ -19,6 +19,6 @@ cc_binary(
         "//modules/common",
         "//modules/common/adapters:adapter_manager",
         "//modules/control/proto:control_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
diff --git a/modules/canbus/tools/canbus_tester.cc b/modules/canbus/tools/canbus_tester.cc
@@ -18,7 +18,7 @@
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/log.h"
 #include "std_msgs/String.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/canbus/common/canbus_gflags.h"
 #include "modules/common/util/file.h"

diff --git a/modules/canbus/tools/teleop.cc b/modules/canbus/tools/teleop.cc
@@ -25,7 +25,7 @@
 #include "modules/common/macro.h"
 #include "modules/common/time/time.h"
 #include "modules/control/proto/control_cmd.pb.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 // gflags
 DEFINE_double(throttle_inc_delta, 2.0,

diff --git a/modules/common/BUILD b/modules/common/BUILD
@@ -5,7 +5,7 @@ cc_library(
     deps = [
         ":log",
         ":macro",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
         "@glog//:glog",
     ],
 )
@@ -38,7 +38,7 @@ cc_library(
     deps = [
         "//modules/common/status",
         "//modules/hmi/utils:hmi_status_helper",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
         "@glog//:glog",
     ],
 )
diff --git a/modules/common/adapters/BUILD b/modules/common/adapters/BUILD
@@ -28,7 +28,7 @@ cc_library(
         "//modules/common/adapters/proto:adapter_config_proto",
         "//modules/common/monitor/proto:monitor_proto",
         "//modules/common/util",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
         "@glog//:glog",
     ],
 )

diff --git a/modules/common/adapters/adapter_manager.h b/modules/common/adapters/adapter_manager.h
@@ -31,7 +31,7 @@
 #include "modules/common/log.h"
 #include "modules/common/macro.h"
 
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 /**
  * @namespace apollo::common::adapter

diff --git a/modules/common/apollo_app.cc b/modules/common/apollo_app.cc
@@ -24,7 +24,7 @@
 #include "modules/common/status/status.h"
 #include "modules/hmi/utils/hmi_status_helper.h"
 
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 namespace apollo {
 namespace common {

diff --git a/modules/common/apollo_app.h b/modules/common/apollo_app.h
@@ -29,7 +29,7 @@
 #include "modules/common/status/status.h"
 #include "modules/hmi/utils/hmi_status_helper.h"
 
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 /**
  * @namespace apollo::common

diff --git a/modules/control/BUILD b/modules/control/BUILD
@@ -33,7 +33,7 @@ cc_library(
         "//modules/perception/proto:perception_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/prediction/proto:prediction_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/control/control.cc b/modules/control/control.cc
@@ -23,7 +23,7 @@
 #include "modules/common/time/time.h"
 #include "modules/control/common/control_gflags.h"
 #include "modules/localization/proto/localization.pb.h"
-#include "third_party/ros/include/std_msgs/String.h"
+#include "ros/include/std_msgs/String.h"
 
 namespace apollo {
 namespace control {

diff --git a/modules/control/controller/controller_agent.h b/modules/control/controller/controller_agent.h
@@ -31,7 +31,7 @@
 #include "modules/control/proto/control_cmd.pb.h"
 #include "modules/control/proto/control_conf.pb.h"
 #include "modules/planning/proto/planning.pb.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 /**
  * @namespace apollo::control

diff --git a/modules/control/integration_tests/control_test_base.cc b/modules/control/integration_tests/control_test_base.cc
@@ -27,7 +27,7 @@
 #include "modules/common/util/file.h"
 #include "modules/control/integration_tests/control_test_base.h"
 #include "modules/control/proto/control_cmd.pb.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 DEFINE_string(test_chassis_file, "", "chassis input file");
 DEFINE_string(test_data_dir, "", "the test data folder");

diff --git a/modules/control/tools/BUILD b/modules/control/tools/BUILD
@@ -12,7 +12,7 @@ cc_binary(
         "//modules/common/adapters:adapter_manager",
         "//modules/control/common",
         "//modules/control/proto:control_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 
@@ -24,7 +24,7 @@ cc_binary(
         "//modules/canbus/proto:canbus_proto",
         "//modules/common/adapters:adapter_manager",
         "//modules/control/common",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 
@@ -38,7 +38,7 @@ cc_binary(
         "//modules/control/common:control_gflags",
         "//modules/localization/proto:localization_proto",
         "//modules/planning/proto:planning_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/control/tools/terminal.cc b/modules/control/tools/terminal.cc
@@ -22,7 +22,7 @@
 #include "modules/control/common/control_gflags.h"
 #include "modules/control/proto/pad_msg.pb.h"
 #include "std_msgs/String.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 namespace {
 

diff --git a/modules/decision/BUILD b/modules/decision/BUILD
@@ -14,7 +14,7 @@ cc_library(
         "//modules/common/time",
         "//modules/decision/common:decision_common",
         "//modules/decision/proto:decision_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
         "@glog//:glog",
     ],
 )
@@ -28,7 +28,7 @@ cc_binary(
         "//modules/decision:lib_decision",
         "//modules/decision/common:decision_common",
         "//modules/decision/proto:decision_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/decision/decision.h b/modules/decision/decision.h
@@ -18,7 +18,7 @@
 #define MODULES_DECISION_DECISION_H_
 
 #include <string>
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/common/apollo_app.h"
 #include "modules/common/macro.h"

diff --git a/modules/decision/main.cc b/modules/decision/main.cc
@@ -16,7 +16,7 @@
 
 #include "gflags/gflags.h"
 #include "modules/common/log.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/decision/common/decision_gflags.h"
 #include "modules/decision/decision.h"

diff --git a/modules/hmi/ros_node/BUILD b/modules/hmi/ros_node/BUILD
@@ -13,7 +13,7 @@ cc_binary(
         "//modules/control/common",
         "//modules/control/proto:control_proto",
         "//modules/hmi/proto:ros_node_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
         "@com_github_google_protobuf//:protobuf",
     ],
 )
diff --git a/modules/localization/camera/BUILD b/modules/localization/camera/BUILD
@@ -23,7 +23,7 @@ cc_library(
         "//modules/localization/proto:camera_proto",
         "//modules/localization/proto:localization_config_proto",
         "//modules/localization/proto:localization_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/localization/camera/camera_localization.h b/modules/localization/camera/camera_localization.h
@@ -37,7 +37,7 @@
 #include "modules/localization/proto/gps.pb.h"
 #include "modules/localization/proto/imu.pb.h"
 #include "modules/localization/proto/localization.pb.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 /**
  * @namespace apollo::localization

diff --git a/modules/localization/rtk/BUILD b/modules/localization/rtk/BUILD
@@ -21,7 +21,7 @@ cc_library(
         "//modules/localization/common:localization_common",
         "//modules/localization/proto:localization_config_proto",
         "//modules/localization/proto:localization_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/localization/rtk/rtk_localization.h b/modules/localization/rtk/rtk_localization.h
@@ -35,7 +35,7 @@
 #include "modules/localization/proto/gps.pb.h"
 #include "modules/localization/proto/imu.pb.h"
 #include "modules/localization/proto/localization.pb.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 /**
  * @namespace apollo::localization

diff --git a/modules/monitor/hwmonitor/hw_check/BUILD b/modules/monitor/hwmonitor/hw_check/BUILD
@@ -28,7 +28,7 @@ cc_binary(
         "//modules/hmi/utils:hmi_status_helper",
         "//modules/monitor/hwmonitor/hw:platform_hw_log_module_lib",
         "//modules/monitor/hwmonitor/hw/esdcan:esdcan_checker_lib",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/monitor/hwmonitor/hw_check/gps_check.cc b/modules/monitor/hwmonitor/hw_check/gps_check.cc
@@ -24,7 +24,7 @@
 #include "modules/monitor/hwmonitor/hw_check/hw_chk_utils.h"
 
 #include "modules/common/proto/gnss_status.pb.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 using apollo::platform::HwCheckResult;
 using apollo::platform::hw::Status;

diff --git a/modules/perception/BUILD b/modules/perception/BUILD
@@ -25,7 +25,7 @@ cc_binary(
         "//modules/common:log",
         "//modules/perception/common:perception_common",
         "//modules/perception/proto:perception_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/perception/main.cc b/modules/perception/main.cc
@@ -16,7 +16,7 @@
 
 #include "gflags/gflags.h"
 #include "modules/common/log.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/perception/perception.h"
 

diff --git a/modules/perception/perception.cc b/modules/perception/perception.cc
@@ -18,7 +18,7 @@
 
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/perception/common/perception_gflags.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 namespace apollo {
 namespace perception {

diff --git a/modules/perception/perception.h b/modules/perception/perception.h
@@ -25,7 +25,7 @@
 
 #include "modules/common/apollo_app.h"
 #include "modules/common/macro.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 /**
  * @namespace apollo::perception

diff --git a/modules/planning/BUILD b/modules/planning/BUILD
@@ -21,7 +21,7 @@ cc_library(
         "//modules/planning/planner:lib_planner",
         "//modules/planning/proto:planning_proto",
         "//modules/prediction/proto:prediction_proto",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
     ],
 )
 

diff --git a/modules/planning/main.cc b/modules/planning/main.cc
@@ -18,7 +18,7 @@
 
 #include "gflags/gflags.h"
 #include "modules/common/log.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 int main(int argc, char **argv) {
   google::InitGoogleLogging(argv[0]);

diff --git a/modules/prediction/main.cc b/modules/prediction/main.cc
@@ -16,7 +16,7 @@
 
 #include "gflags/gflags.h"
 #include "modules/common/log.h"
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/prediction/prediction.h"
 

diff --git a/modules/prediction/prediction.h b/modules/prediction/prediction.h
@@ -21,7 +21,7 @@
 #ifndef MODULES_PREDICTION_PREDICTION_H_
 #define MODULES_PREDICTION_PREDICTION_H_
 
-#include "third_party/ros/include/ros/ros.h"
+#include "ros/include/ros/ros.h"
 
 #include "modules/common/apollo_app.h"
 #include "modules/common/macro.h"