Merge dora-ros2-bridge

.github/workflows/ci.yml

@@ -2,11 +2,14 @@ name: CI
 
 on:
   push:
+    branches:
+      - main
   pull_request:
   workflow_dispatch:
 
 env:
   RUST_LOG: trace
+  CARGO_TERM_COLOR: always
 
 jobs:
   test:
@@ -67,6 +70,59 @@ jobs:
         timeout-minutes: 15
         run: cargo run --example cxx-dataflow
 
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - run: 'source /opt/ros/humble/setup.bash && echo AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH} >> "$GITHUB_ENV"'
+        if: runner.os == 'Linux'
+      - name: "Rust ROS2 Bridge example"
+        timeout-minutes: 30
+        if: runner.os == 'Linux'
+        env:
+          QT_QPA_PLATFORM: offscreen
+        run: |
+          source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node &
+          cargo run --example rust-ros2-dataflow --features="ros2-examples"
+
+  python-examples:
+    name: "Python Examples"
+    strategy:
+      matrix:
+        platform: [ubuntu-latest, macos-latest]
+      fail-fast: false
+    runs-on: ${{ matrix.platform }}
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: actions/setup-python@v2
+        with:
+          python-version: "3.10"
+
+      - uses: r7kamura/[email protected]
+      - run: cargo --version --verbose
+      - uses: Swatinem/rust-cache@v2
+
+      - name: "Python Dataflow example"
+        run: cargo run --example python-dataflow
+
+      - name: "Python Operator Dataflow example"
+        run: cargo run --example python-operator-dataflow
+
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - run: 'source /opt/ros/humble/setup.bash && echo AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH} >> "$GITHUB_ENV"'
+        if: runner.os == 'Linux'
+      - name: "python-ros2-dataflow"
+        timeout-minutes: 30
+        if: runner.os == 'Linux'
+        env:
+          QT_QPA_PLATFORM: offscreen
+        run: |
+          source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node &
+          cargo run --example python-ros2-dataflow --features="ros2-examples"
+
+
   CLI:
     name: "CLI Test"
     strategy:
@@ -99,7 +155,7 @@ jobs:
           dora-cli list
 
           # Test Rust template Project
-          dora-cli new test_rust_project --internal-create-with-path-dependencies 
+          dora-cli new test_rust_project --internal-create-with-path-dependencies
           cd test_rust_project
           cargo build --all
           dora-cli start dataflow.yml --name ci-rust-test

Cargo.toml

@@ -22,6 +22,10 @@ members = [
     "libraries/extensions/download",
     "libraries/extensions/telemetry/*",
     "libraries/extensions/zenoh-logger",
+    "libraries/extensions/ros2-bridge",
+    "libraries/extensions/ros2-bridge/msg-gen",
+    "libraries/extensions/ros2-bridge/msg-gen-macro",
+    "libraries/extensions/ros2-bridge/python",
 ]
 
 [workspace.package]
@@ -33,6 +37,7 @@ license = "Apache-2.0"
 
 [workspace.dependencies]
 dora-node-api = { version = "0.2.4", path = "apis/rust/node", default-features = false }
+dora-node-api-python = { version = "0.2.4", path = "apis/python/node", default-features = false }
 dora-operator-api = { version = "0.2.4", path = "apis/rust/operator", default-features = false }
 dora-operator-api-macros = { version = "0.2.4", path = "apis/rust/operator/macros" }
 dora-operator-api-types = { version = "0.2.4", path = "apis/rust/operator/types" }
@@ -49,6 +54,8 @@ dora-message = { version = "0.2.4", path = "libraries/message" }
 dora-runtime = { version = "0.2.4", path = "binaries/runtime" }
 dora-daemon = { version = "0.2.4", path = "binaries/daemon" }
 dora-coordinator = { version = "0.2.4", path = "binaries/coordinator" }
+dora-ros2-bridge = { path = "libraries/extensions/ros2-bridge" }
+dora-ros2-bridge-python = { path = "libraries/extensions/ros2-bridge/python" }
 
 [package]
 name = "dora-examples"
@@ -101,6 +108,11 @@ path = "examples/c++-dataflow/run.rs"
 name = "python-dataflow"
 path = "examples/python-dataflow/run.rs"
 
+[[example]]
+name = "python-ros2-dataflow"
+path = "examples/python-ros2-dataflow/run.rs"
+required-features = ["ros2-examples"]
+
 [[example]]
 name = "python-operator-dataflow"
 path = "examples/python-operator-dataflow/run.rs"

apis/python/node/Cargo.toml

@@ -24,6 +24,7 @@ dora-runtime = { workspace = true, features = ["tracing", "python"] }
 arrow = { version = "45.0.0", features = ["pyarrow"] }
 pythonize = "0.19.0"
 futures = "0.3.28"
+dora-ros2-bridge-python = { workspace = true }
 
 [lib]
 name = "dora"

apis/python/node/pyproject.toml

@@ -4,6 +4,8 @@ build-backend = "maturin"
 
 [project]
 name = "dora-rs"
+# Install pyarrow at the same time of dora-rs
+dependencies = ['pyarrow']
 
 [tool.maturin]
 features = ["pyo3/extension-module"]