Update to use rmw_zenoh

sdk_examples_ros_services/listener_service/CMakeLists.txt

@@ -7,8 +7,8 @@ intrinsic_sdk_generate_service_manifest(
   PROTOS_TARGET listener_service_protos
 )
 add_executable(listener_service_main
-  listener_service_main.cpp
-  minimal_subscriber.cpp
+  listener_service_main.cc
+  minimal_subscriber.cc
 )
 
 target_link_libraries(
@@ -20,7 +20,10 @@ target_link_libraries(
   intrinsic_sdk_cmake::intrinsic_sdk_cmake
 )
 
-add_dependencies(listener_service_main listener_service_manifest listener_service_default_config)
+add_dependencies(listener_service_main
+  listener_service_manifest
+  listener_service_default_config
+)
 
 # Install the listener service
 install(

sdk_examples_ros_services/listener_service/listener_service_default_config.pbtxt

@@ -1,7 +1,6 @@
 # proto-file: google/protobuf/any.proto
 # proto-message: Any
 [type.googleapis.com/ros.RosConfig] {
-  zenoh_router_address: "tcp/zenoh-router.app-intrinsic-base:7447"
   ros_args: "-r"
-  ros_args: "topic:=topic"  # Define the topic that is listened to
+  ros_args: "topic:=topic"  # An example of topic remapping syntax
 }

sdk_examples_ros_services/listener_service/listener_service_main.cc

@@ -0,0 +1,51 @@
+#include <cstdlib>
+#include <fstream>
+#include <memory>
+
+#include "intrinsic/resources/proto/runtime_context.pb.h"
+#include "minimal_subscriber.h"
+#include "rclcpp/rclcpp.hpp"
+#include "ros_config.pb.h"
+
+intrinsic_proto::config::RuntimeContext GetRuntimeContext() {
+  intrinsic_proto::config::RuntimeContext runtime_context;
+  std::ifstream runtime_context_file;
+  runtime_context_file.open("/etc/intrinsic/runtime_config.pb",
+                            std::ios::binary);
+  if (!runtime_context.ParseFromIstream(&runtime_context_file)) {
+    // Return default context for running locally
+    std::cerr << "Warning: using default RuntimeContext\n";
+    ros::RosConfig default_ros_config;
+    runtime_context.mutable_config()->PackFrom(default_ros_config);
+  }
+  return runtime_context;
+}
+
+int main(int argc, char* argv[]) {
+  auto runtime_context = GetRuntimeContext();
+  ros::RosConfig ros_config;
+  if (!runtime_context.config().UnpackTo(&ros_config)) {
+    std::cerr << "Unable to unpack runtime_context\n";
+    return EXIT_FAILURE;
+  }
+
+  // Get ROS arguments
+  std::vector<const char *> ros_argv;
+  for (int i = 0; i < argc; i++) {
+    ros_argv.push_back(argv[i]);
+  }
+
+  // Insert --ros-args at beginning
+  ros_argv.emplace_back("--ros-args");
+
+  // Copy all other arguments
+  for (int i = 0; i < ros_config.ros_args_size(); ++i) {
+    ros_argv.emplace_back(ros_config.ros_args(i).c_str());
+    std::cerr << "ROS argument: " << ros_argv.back() << "\n";
+  }
+
+  rclcpp::init(ros_argv.size(), ros_argv.data());
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
+  return EXIT_SUCCESS;
+}

sdk_examples_ros_services/listener_service/minimal_subscriber.cc

@@ -0,0 +1,14 @@
+#include "minimal_subscriber.h"
+
+using std::placeholders::_1;
+
+MinimalSubscriber::MinimalSubscriber(const rclcpp::NodeOptions& options)
+    : rclcpp::Node("minimal_subscriber", options) {
+  subscription_ = this->create_subscription<std_msgs::msg::String>(
+      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
+}
+
+void MinimalSubscriber::topic_callback(
+    const std_msgs::msg::String::SharedPtr msg) const {
+  RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+}

sdk_examples_ros_services/listener_service/minimal_subscriber.h

@@ -0,0 +1,25 @@
+#ifndef MINIMAL_SUBSCRIBER_H_
+#define MINIMAL_SUBSCRIBER_H_
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+// Create a MinimalSubscriber node that has a single subscription
+// The main function will instantiate the Node
+class MinimalSubscriber : public rclcpp::Node {
+ public:
+  // Constructor
+  explicit MinimalSubscriber(
+      const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
+
+ private:
+  // Callback to be fired when new messages arrive on the "topic" topic
+  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const;
+
+  // The subscription pointer
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+#endif  // MINIMAL_SUBSCRIBER_H_

sdk_examples_ros_services/listener_service/ros_config.proto

@@ -1,9 +1,7 @@
-// this is a comment
 syntax = "proto3";
 
 package ros;
 
 message RosConfig {
-  string  zenoh_router_address = 1;
-  repeated string ros_args = 2;
+  repeated string ros_args = 1;
 }

sdk_examples_ros_skills/CMakeLists.txt

@@ -12,7 +12,7 @@ find_package(std_msgs REQUIRED)
 
 # Intrinsic Dependencies
 find_package(absl REQUIRED)
-find_package(intrinsic_sdk_ros REQUIRED)
+find_package(intrinsic_sdk_cmake REQUIRED)
 
 add_subdirectory(src/talker_skill)
 

sdk_examples_ros_skills/package.xml

@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>intrinsic_sdk_ros</depend>
+  <depend>intrinsic_sdk_cmake</depend>
   <depend>rclcpp</depend>
 
   <export>

sdk_examples_ros_skills/src/talker_skill/CMakeLists.txt

@@ -25,14 +25,19 @@ intrinsic_sdk_generate_skill_manifest_pbbin(
 # Generate the main function for this skill
 intrinsic_sdk_generate_skill_main_cc(
   MANIFEST_PBBIN "${CMAKE_CURRENT_BINARY_DIR}/talker_skill.manifest.pbbin"
-  HEADER_FILES talker_skill.hh
+  CONFIG_PBBIN "${CMAKE_CURRENT_BINARY_DIR}/talker_skill_config.pbbin"
+  HEADER_FILES talker_skill.h
   MAIN_FILE_OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/talker_skill_main.cc
 )
 
 install(
-  FILES "${CMAKE_CURRENT_BINARY_DIR}/talker_skill_config.pbbin"
+  FILES
+    talker_skill.manifest.textproto
+    "${CMAKE_CURRENT_BINARY_DIR}/talker_skill_config.pbbin"
+    "${CMAKE_CURRENT_BINARY_DIR}/talker_skill_protos.desc"
   DESTINATION share/${PROJECT_NAME}
 )
+
 add_executable(talker_skill_main
   talker_skill.cc
   ${CMAKE_CURRENT_BINARY_DIR}/talker_skill_main.cc
@@ -55,8 +60,3 @@ install(
   TARGETS talker_skill_main
   DESTINATION lib/${PROJECT_NAME}
 )
-
-install(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/talker_skill_config.pbbin
-  DESTINATION "share/${PROJECT_NAME}"
-)

sdk_examples_ros_skills/src/talker_skill/minimal_publisher.cc

@@ -1,13 +1,10 @@
-#include "minimal_publisher.hh"
+#include "minimal_publisher.h"
 
-MinimalPublisher::MinimalPublisher()
-: rclcpp::Node("minimal_publisher")
-{
+MinimalPublisher::MinimalPublisher() : rclcpp::Node("minimal_publisher") {
   publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
 }
 
-void MinimalPublisher::Publish(const std::string & message)
-{
+void MinimalPublisher::Publish(const std::string& message) {
   auto ros_message = std_msgs::msg::String();
   ros_message.data = message;
   RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", ros_message.data.c_str());

sdk_examples_ros_skills/src/talker_skill/minimal_publisher.h

@@ -0,0 +1,17 @@
+#ifndef MINIMAL_PUBLISHER_H_
+#define MINIMAL_PUBLISHER_H_
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+
+class MinimalPublisher : public rclcpp::Node {
+ public:
+  MinimalPublisher();
+
+  void Publish(const std::string& message);
+
+ private:
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+};
+
+#endif  // MINIMAL_PUBLISHER_H_