Merge pull request dora-rs#425 from dora-rs/c++-ros2-bridge

Add ROS2 bridge support for C++ nodes

.github/workflows/ci.yml

@@ -191,6 +191,14 @@ jobs:
           # Reset only the turtlesim instance as it is not destroyed at the end of the previous job
           source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty &
           cargo run --example python-ros2-dataflow --features="ros2-examples"
+      - name: "c++-ros2-dataflow"
+        timeout-minutes: 30
+        env:
+          QT_QPA_PLATFORM: offscreen
+        run: |
+          # Reset only the turtlesim instance as it is not destroyed at the end of the previous job
+          source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty &
+          cargo run --example cxx-ros2-dataflow --features="ros2-examples"
 
   bench:
     name: "Bench"

Cargo.toml

@@ -27,7 +27,6 @@ members = [
     "libraries/extensions/dora-record",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
-    "libraries/extensions/ros2-bridge/msg-gen-macro",
     "libraries/extensions/ros2-bridge/python",
 ]
 
@@ -59,6 +58,7 @@ dora-runtime = { version = "0.3.2", path = "binaries/runtime" }
 dora-daemon = { version = "0.3.2", path = "binaries/daemon" }
 dora-coordinator = { version = "0.3.2", path = "binaries/coordinator" }
 dora-ros2-bridge = { path = "libraries/extensions/ros2-bridge" }
+dora-ros2-bridge-msg-gen = { path = "libraries/extensions/ros2-bridge/msg-gen" }
 dora-ros2-bridge-python = { path = "libraries/extensions/ros2-bridge/python" }
 arrow = "48.0.0"
 arrow-schema = "48.0.0"
@@ -138,3 +138,8 @@ path = "examples/multiple-daemons/run.rs"
 [[example]]
 name = "cmake-dataflow"
 path = "examples/cmake-dataflow/run.rs"
+
+[[example]]
+name = "cxx-ros2-dataflow"
+path = "examples/c++-ros2-dataflow/run.rs"
+required-features = ["ros2-examples"]

apis/c++/node/Cargo.toml

@@ -14,11 +14,28 @@ crate-type = ["staticlib"]
 [features]
 default = ["tracing"]
 tracing = ["dora-node-api/tracing"]
+ros2-bridge = [
+    "dep:dora-ros2-bridge",
+    "dep:dora-ros2-bridge-msg-gen",
+    "dep:rust-format",
+    "dep:prettyplease",
+    "dep:serde",
+    "dep:serde-big-array",
+]
 
 [dependencies]
 cxx = "1.0.73"
 dora-node-api = { workspace = true }
 eyre = "0.6.8"
+dora-ros2-bridge = { workspace = true, optional = true }
+futures-lite = { version = "2.2" }
+serde = { version = "1.0.164", features = ["derive"], optional = true }
+serde-big-array = { version = "0.5.1", optional = true }
 
 [build-dependencies]
 cxx-build = "1.0.73"
+dora-ros2-bridge-msg-gen = { workspace = true, optional = true }
+rust-format = { version = "0.3.4", features = [
+    "pretty_please",
+], optional = true }
+prettyplease = { version = "0.1", features = ["verbatim"], optional = true }