@wip

Signed-off-by: Michael Carroll <[email protected]>

BUILD.bazel

@@ -1,3 +1,4 @@
+load("@rules_gz//gz:headers.bzl", "gz_configure_header", "gz_export_header")
 load("@buildifier_prebuilt//:rules.bzl", "buildifier", "buildifier_test")
 load("@rules_license//rules:license.bzl", "license")
 
@@ -17,6 +18,117 @@ exports_files([
     "MODULE.bazel",
 ])
 
+gz_configure_header(
+    name = "config",
+    src = "include/sdf/config.hh.in",
+    cmakelists = ["CMakeLists.txt"],
+    defines = {
+        "CMAKE_INSTALL_FULL_DATAROOTDIR": "unused",
+        "PROJECT_NAME": "sdformat",
+        "PROJECT_VERSION": "15.0.0",
+        "PROJECT_VERSION_FULL": "15.0.0",
+        "PROJECT_VERSION_MAJOR": "15",
+        "PROJECT_VERSION_MINOR": "0",
+        "PROJECT_VERSION_PATCH": "0",
+        "SDF_PROTOCOL_VERSION": "1.12",
+    },
+    package = "sdformat",
+)
+
+gz_export_header(
+    name = "include/sdf/Export.hh",
+    export_base = "GZ_SDFORMAT",
+    lib_name = "sdformat",
+    visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = glob([
+    "include/sdf/*.h",
+    "include/sdf/*.hh",
+])
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+        "src/InstallationDirectories.cc",
+    ],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/sdf/config.hh",
+    "include/sdf/Export.hh",
+]
+
+cc_library(
+    name = "installation_directories",
+    srcs = ["src/InstallationDirectories.cc"],
+    hdrs = [
+        "include/sdf/Export.hh",
+        "include/sdf/InstallationDirectories.hh",
+        "include/sdf/config.hh",
+        "include/sdf/sdf_config.h",
+        "include/sdf/system_util.hh",
+    ],
+    defines = [
+        'CMAKE_INSTALL_RELATIVE_DATAROOTDIR=\\"unused\\"',
+    ],
+    includes = ["include"],
+    visibility = ["//visibility:private"],
+)
+
+cc_library(
+    name = "urdf_parser",
+    srcs = [
+        "src/urdf/urdf_parser/joint.cpp",
+        "src/urdf/urdf_parser/link.cpp",
+        "src/urdf/urdf_parser/model.cpp",
+        "src/urdf/urdf_parser/pose.cpp",
+        "src/urdf/urdf_parser/twist.cpp",
+        "src/urdf/urdf_parser/urdf_model_state.cpp",
+        "src/urdf/urdf_parser/urdf_sensor.cpp",
+        "src/urdf/urdf_parser/world.cpp",
+    ],
+    hdrs = glob(
+        ["src/urdf/**/*.h"],
+    ),
+    copts = ["-Wno-unknown-pragmas"],
+    includes = ["src/urdf"],
+    deps = [
+        "@tinyxml2",
+    ],
+)
+
+cc_library(
+    name = "sdformat",
+    srcs = sources + private_headers,
+    hdrs = public_headers,
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":installation_directories",
+        ":urdf_parser",
+        "@gz-math",
+        "@gz-utils",
+    ],
+)
+
+[cc_test(
+    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+    srcs = [src],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "sdformat",
+    },
+    deps = [
+        ":sdformat",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for src in test_sources]
+
 # Bazel linting
 buildifier(
     name = "buildifier.fix",

MODULE.bazel

@@ -7,6 +7,7 @@ module(
 bazel_dep(name = "buildifier_prebuilt", version = "6.1.2")
 bazel_dep(name = "googletest", version = "1.14.0")
 bazel_dep(name = "rules_license", version = "0.0.8")
+bazel_dep(name = "tinyxml2", version = "10.0.0")
 
 # Gazebo Dependencies
 bazel_dep(name = "rules_gz")

src/parser_urdf.cc

@@ -35,8 +35,8 @@
 #include <urdf_parser/urdf_parser.h>
 
 #include "sdf/Error.hh"
-#include "sdf/sdf.hh"
 #include "sdf/Types.hh"
+#include "sdf/Frame.hh"
 
 #include "XmlUtils.hh"
 #include "SDFExtension.hh"