Test switching xacro to bcr

MODULE.bazel

@@ -32,3 +32,9 @@ register_toolchains(
 # file, so that downstream projects can consume Drake exclusively via bzlmod
 # (and so that we can delete our WORKSPACE files prior to Bazel 9 which drops
 # suppose for it).
+
+bazel_dep(name = "xacro")
+local_path_override(
+    module_name = "xacro",
+    path = "../xacro",
+)

examples/multibody/strandbeest/BUILD.bazel

@@ -1,7 +1,7 @@
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load("//tools/skylark:drake_cc.bzl", "drake_cc_binary")
 load("//tools/skylark:drake_py.bzl", "drake_py_unittest")
-load("//tools/workspace/ros_xacro_internal:defs.bzl", "xacro_filegroup")
+load("@xacro//bazel:defs.bzl", "xacro_filegroup")
 
 package(default_visibility = ["//visibility:private"])
 

tools/workspace/default.bzl

@@ -76,7 +76,6 @@ load("//tools/workspace/pycodestyle:repository.bzl", "pycodestyle_repository")
 load("//tools/workspace/python:repository.bzl", "python_repository")
 load("//tools/workspace/qdldl_internal:repository.bzl", "qdldl_internal_repository")  # noqa
 load("//tools/workspace/qhull_internal:repository.bzl", "qhull_internal_repository")  # noqa
-load("//tools/workspace/ros_xacro_internal:repository.bzl", "ros_xacro_internal_repository")  # noqa
 load("//tools/workspace/rules_cc:repository.bzl", "rules_cc_repository")  # noqa
 load("//tools/workspace/rules_java:repository.bzl", "rules_java_repository")
 load("//tools/workspace/rules_license:repository.bzl", "rules_license_repository")  # noqa
@@ -302,8 +301,6 @@ def add_default_repositories(
         qdldl_internal_repository(name = "qdldl_internal", mirrors = mirrors)
     if "qhull_internal" not in excludes:
         qhull_internal_repository(name = "qhull_internal", mirrors = mirrors)
-    if "ros_xacro_internal" not in excludes:
-        ros_xacro_internal_repository(name = "ros_xacro_internal", mirrors = mirrors)  # noqa
     if "rules_cc" not in excludes:
         rules_cc_repository(name = "rules_cc", mirrors = mirrors)
     if "rules_java" not in excludes: