From a466f226765cb4051a368870ba34fad5d5b9f523 Mon Sep 17 00:00:00 2001
From: Julien Enoch <julien.enoch@adlinktech.com>
Date: Mon, 30 Aug 2021 17:21:11 +0200
Subject: [PATCH] Add ROS2 packaging of zenoh-bridge-dds

---
 .gitignore              |  6 +++++
 README.md               |  8 +++++++
 ros2_pkg/CMakeLists.txt | 52 +++++++++++++++++++++++++++++++++++++++++
 ros2_pkg/package.xml    | 33 ++++++++++++++++++++++++++
 4 files changed, 99 insertions(+)
 create mode 100644 ros2_pkg/CMakeLists.txt
 create mode 100644 ros2_pkg/package.xml

diff --git a/.gitignore b/.gitignore
index e7dc3101..a11aa22e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,9 @@
 target
 *~
 *.log
+
+# ROS2 packaging
+build
+log
+install
+
diff --git a/README.md b/README.md
index e845ba50..388b71e6 100644
--- a/README.md
+++ b/README.md
@@ -52,6 +52,14 @@ $ cargo build --release
 ```
 The **`zenoh-bridge-dds`** binary will be generated in the `target/release` sub-directory.
 
+### ROS2 package
+If you're a ROS2 user, you can also build `zenoh-bridge-dds` as a ROS package running:
+```bash
+rosdep install --from-paths . --ignore-src -r -y
+colcon build --packages-select zenoh-bridge-dds
+```
+The `rosdep` command will automatically install *Rust* and *clang* as build dependencies.
+
 ## Docker image
 The **`zenoh-bridge-dds`** standalone executable is also available as a [Docker images](https://hub.docker.com/r/eclipse/zenoh-bridge-dds/tags?page=1&ordering=last_updated) for both amd64 and arm64. To get it, do:
   - `docker pull eclipse/zenoh-bridge-dds:master` for the master branch version
diff --git a/ros2_pkg/CMakeLists.txt b/ros2_pkg/CMakeLists.txt
new file mode 100644
index 00000000..373695d3
--- /dev/null
+++ b/ros2_pkg/CMakeLists.txt
@@ -0,0 +1,52 @@
+#
+# Copyright (c) 2017, 2020 ADLINK Technology Inc.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ADLINK zenoh team, <zenoh@adlink-labs.tech>
+#
+cmake_minimum_required(VERSION 3.8)
+project(zenoh-bridge-dds)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+set(RUST_PROJECT_DIR "${CMAKE_SOURCE_DIR}/../zenoh-bridge-dds")
+set(RUST_TARGET_DIR ${CMAKE_BINARY_DIR}/target)
+
+FILE(GLOB RUST_SRC_FILES ${RUST_PROJECT_DIR}/src/*.rs ${RUST_PROJECT_DIR}/../zplugin-dds/src/*.rs)
+
+add_custom_command(
+    OUTPUT
+        ${RUST_TARGET_DIR}/release/zenoh-bridge-dds
+    COMMAND cargo build --release --manifest-path "${RUST_PROJECT_DIR}/Cargo.toml" --target-dir "${RUST_TARGET_DIR}"
+    DEPENDS
+        ${RUST_SRC_FILES}
+)
+
+add_custom_target(
+    build_crate ALL
+    DEPENDS
+        ${RUST_TARGET_DIR}/release/zenoh-bridge-dds
+)
+
+install(FILES
+    ${RUST_TARGET_DIR}/release/zenoh-bridge-dds
+    PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/ros2_pkg/package.xml b/ros2_pkg/package.xml
new file mode 100644
index 00000000..ace1e3c2
--- /dev/null
+++ b/ros2_pkg/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<!--
+Copyright (c) 2017, 2020 ADLINK Technology Inc.
+
+This program and the accompanying materials are made available under the
+terms of the Eclipse Public License 2.0 which is available at
+http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+which is available at https://www.apache.org/licenses/LICENSE-2.0.
+
+SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+
+Contributors:
+  ADLINK zenoh team, <zenoh@adlink-labs.tech>
+-->
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>zenoh-bridge-dds</name>
+  <version>0.5.0</version>
+  <description>Bridge between ROS2/DDS and Eclipse zenoh</description>
+  <url>https://github.com/eclipse-zenoh/zenoh-plugin-dds</url>
+  <maintainer email="zenoh@adlink-labs.tech">ADLINK zenoh team</maintainer>
+  <license>EPL-2.0</license>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>cargo</build_depend>
+  <build_depend>clang</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>