Add bazel build support (#529)

Adds bazel build support for gz-sensors. The bzlmod setup is similar to sdformat (added in gazebosim/sdformat#1493).

Also adds bazel CI.

Some include paths in test/test_config.hh and src/DopplerVelocityLog.cc had to be adjusted to satisfy layering check.

Signed-off-by: Shameek Ganguly <shameek@intrinsic.ai>

Author: shameekganguly

.bazelrc

@@ -0,0 +1,15 @@
+common --enable_bzlmod
+common --lockfile_mode=off
+
+# Add C++17 compiler flags.
+build --cxxopt=-std=c++17
+build --host_cxxopt=-std=c++17
+
+build --force_pic
+build --strip=never
+build --strict_system_includes
+build --fission=dbg
+build --features=per_object_debug_info
+
+# Enable header processing, required for layering checks with parse_header.
+build --process_headers_in_dependencies

.bazelversion

@@ -0,0 +1 @@
+7.3.1

.github/workflows/bazel.yml

@@ -0,0 +1,23 @@
+name: Bazel CI
+on:
+  push:
+    branches: [gz-sensors9, main]
+  pull_request:
+    branches: [gz-sensors9, main]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    uses: bazel-contrib/.github/.github/workflows/bazel.yaml@v7.2.2
+    with:
+      folders: |
+        [
+          ".",
+        ]
+      exclude: |
+        [
+          {"folder": ".", "bzlmodEnabled": false},
+        ]

.github/workflows/ci.bazelrc

@@ -0,0 +1,15 @@
+# This file contains Bazel settings to apply on CI only.
+# It is referenced with a --bazelrc option in the call to bazel in ci.yaml
+
+# Debug where options came from
+build --announce_rc
+# This directory is configured in GitHub actions to be persisted between runs.
+# We do not enable the repository cache to cache downloaded external artifacts
+# as these are generally faster to download again than to fetch them from the
+# GitHub actions cache.
+build --disk_cache=~/.cache/bazel
+# Don't rely on test logs being easily accessible from the test runner,
+# though it makes the log noisier.
+test --test_output=errors
+# Allows tests to run bazelisk-in-bazel, since this is the cache folder used
+test --test_env=XDG_CACHE_HOME

.gitignore

@@ -7,3 +7,6 @@ build
 
 # Version control generated files
 *.orig
+
+# Bazel generated files
+bazel-*