Upgrade to Drake suggested 1.37.0

Toward #373 and #376.
RobotLocomotion · Jan 27, 2025 · f208880 · f208880
1 parent 85d5ec0
commit f208880
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Showing 13 changed files with 21 additions and 25 deletions.
diff --git a/.lint/.bazeliskrc b/.lint/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=7.1.2
+USE_BAZEL_VERSION=7.4.1
diff --git a/bazel_ros2_rules/.bazeliskrc b/bazel_ros2_rules/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=7.1.2
+USE_BAZEL_VERSION=7.4.1
diff --git a/bazel_ros2_rules/setup/install_prereqs.sh b/bazel_ros2_rules/setup/install_prereqs.sh
@@ -50,12 +50,10 @@ function dpkg_install_from_curl() {
 
 apt install g++ unzip zlib1g-dev
 
-# TODO(eric.cousineau) Once there's a bazelisk 1.20 that incorporates pr563, we
-# should switch to using that here.
 dpkg_install_from_curl \
-  bazelisk 1.19.0 \
-  https://drake-mirror.csail.mit.edu/github/bazelbuild/bazelisk/pr563/bazelisk_1.19.0-9-g58a850f_amd64.deb \
-  c2bfd15d6c3422ae540cda9facc0ac395005e2701c09dbb15d40447b53e831d4
+  bazelisk 1.25.0 \
+  https://github.com/bazelbuild/bazelisk/releases/download/v1.25.0/bazelisk-amd64.deb \
+  f16dc348190990eb2e8950e773bc91dcdc7632517e5b63bdc4dd58f90062920c
 
 # Install Python dependencies
 apt install python3 python3-toposort python3-dev python-is-python3
diff --git a/default.bazelrc b/default.bazelrc
@@ -1,5 +1,6 @@
-# Don't use bzlmod (yet); eventually we'll want to enable this.
-common --enable_bzlmod=false
+# Don't use bzlmod (yet); eventually we'll want to enable this and turn off
+# the enable_workspace flag.
+common --enable_bzlmod=false --enable_workspace
 
 # Use C++20.
 build --cxxopt=-std=c++20

diff --git a/drake_ros/.bazeliskrc b/drake_ros/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=7.1.2
+USE_BAZEL_VERSION=7.4.1
diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl
@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.34.0.tar.gz",  # noqa
-    sha256 = "0b57df077192a9480b799320c1edee3cc524d5e9b97aaa6861de09681542175f",  # noqa,
-    strip_prefix = "drake-1.34.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.37.0.tar.gz",  # noqa
+    sha256 = "6bee6762f74c3ec7933b47de601ac3a1d1790f8cae20aa1aba1f78e2c0817a68",  # noqa,
+    strip_prefix = "drake-1.37.0",
 )
diff --git a/drake_ros/drake_ros/core/cc_pybind.cc b/drake_ros/drake_ros/core/cc_pybind.cc
@@ -56,8 +56,8 @@ class PySerializerInterface : public SerializerInterface {
     // PYBIND11_OVERLOAD_PURE macro embeds a `return ...;` statement, we must
     // wrap it in lambda so that we can post-process the return value.
     py::object default_value = [this]() -> py::object {
-      PYBIND11_OVERLOAD_PURE(
-          py::object, SerializerInterface, CreateDefaultValue);
+      PYBIND11_OVERLOAD_PURE(py::object, SerializerInterface,
+                             CreateDefaultValue);
     }();
     DRAKE_THROW_UNLESS(!default_value.is_none());
     return default_value.template cast<const drake::AbstractValue*>()->Clone();

diff --git a/drake_ros_examples/.bazeliskrc b/drake_ros_examples/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=7.1.2
+USE_BAZEL_VERSION=7.4.1
diff --git a/drake_ros_examples/examples/multirobot/multirobot.cc b/drake_ros_examples/examples/multirobot/multirobot.cc
@@ -44,7 +44,6 @@ int main(int argc, char** argv) {
   // Add a multibody plant and a scene graph to hold the robots
   drake::multibody::MultibodyPlantConfig plant_config;
   plant_config.time_step = 0.001;
-  plant_config.discrete_contact_solver = "sap";
   auto [plant, scene_graph] =
       drake::multibody::AddMultibodyPlant(plant_config, &builder);
 

diff --git a/drake_ros_examples/examples/multirobot/multirobot.py b/drake_ros_examples/examples/multirobot/multirobot.py
@@ -47,7 +47,7 @@ def main():
 
     # Add a multibody plant and a scene graph to hold the robots
     plant, scene_graph = AddMultibodyPlant(
-        MultibodyPlantConfig(time_step=0.001, discrete_contact_solver="sap"),
+        MultibodyPlantConfig(time_step=0.001),
         builder,
     )
 

diff --git a/ros2_example_bazel_installed/.bazeliskrc b/ros2_example_bazel_installed/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=7.1.2
+USE_BAZEL_VERSION=7.4.1
diff --git a/ros2_example_bazel_installed/README.md b/ros2_example_bazel_installed/README.md
@@ -25,7 +25,7 @@ bazel build //...
 To run examples binaries directly:
 
 ```sh
-bazel run //ros2_example_apps:oracle_cc
+bazel run //ros2_example_apps:oracle_py
 ```
 
 ```sh

diff --git a/ros2_example_bazel_installed/setup/install_prereqs.sh b/ros2_example_bazel_installed/setup/install_prereqs.sh
@@ -58,12 +58,10 @@ function dpkg_install_from_curl() {
 
 apt install g++ unzip zlib1g-dev
 
-# TODO(eric.cousineau) Once there's a bazelisk 1.20 that incorporates pr563, we
-# should switch to using that here.
 dpkg_install_from_curl \
-  bazelisk 1.19.0 \
-  https://drake-mirror.csail.mit.edu/github/bazelbuild/bazelisk/pr563/bazelisk_1.19.0-9-g58a850f_amd64.deb \
-  c2bfd15d6c3422ae540cda9facc0ac395005e2701c09dbb15d40447b53e831d4
+  bazelisk 1.25.0 \
+  https://github.com/bazelbuild/bazelisk/releases/download/v1.25.0/bazelisk-amd64.deb \
+  f16dc348190990eb2e8950e773bc91dcdc7632517e5b63bdc4dd58f90062920c
 
 # If the user did not explicitly specify their installation prefix, install
 # ROS 2 Humble.
-Original file line number
+Diff line change
@@ Expand Up / @@ -25,7 +25,7 @@ bazel build //... @@
     To run examples binaries directly:
     ```sh
-    bazel run //ros2_example_apps:oracle_cc
+    bazel run //ros2_example_apps:oracle_py
     ```
     ```sh
@@ Expand Down @@