WIP: Bridge plugin sources

Cargo.toml

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+#
+# Copyright (c) 2022 ZettaScale Technology
+#
+# 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:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+[workspace]
+members = [
+  "zplugin-ros1",
+]
+
+[workspace.package]
+version = "0.7.0-rc"
+authors = [
+    "Dmitrii Bannov <dmitrii.bannov@zettascale.tech>",
+    "Luca Cominardi <luca@zettascale.tech>"
+]
+edition = "2021"
+repository = "https://github.com/eclipse-zenoh/zenoh-plugin-ros1"
+homepage = "http://zenoh.io"
+license = " EPL-2.0 OR Apache-2.0"
+
+[workspace.dependencies]
+env_logger = "0.9.1"
+flume = "0.10.14"
+futures = "0.3.24"
+git-version = "0.3.5"
+lazy_static = "1.4.0"
+log = "0.4.17"
+serde = "1.0.147"
+serde_json = "1.0.85"
+async-global-executor = "2.3.1"
+rand = "0.8.5"
+strum = "0.24"
+strum_macros = "0.24"
+duration-string = "0.3.0"
+zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", features = ["unstable"] }
+zenoh-ext = { git = "https://github.com/eclipse-zenoh/zenoh.git", features = ["unstable"] }
+zenoh-core = { git = "https://github.com/eclipse-zenoh/zenoh.git" }
+zenoh-plugin-trait = { git = "https://github.com/eclipse-zenoh/zenoh.git", default-features = false }
+rosrust = { git = "https://github.com/ZettaScaleLabs/rosrust.git", branch = "feature/fix_bugs" }
+rustc_version = "0.4"
+
+[profile.release]
+debug = false
+lto = "fat"
+codegen-units = 1
+opt-level = 3
+panic = "abort"

DEFAULT_CONFIG.json5

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+////
+//// This file presents the default configuration used by `zplugin-ros1` plugin.
+//// The "ros1" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
+////
+{
+  plugins: {
+    ////
+    //// ROS1 bridge related configuration
+    //// All settings are optional and are unset by default - uncomment the ones you want to set
+    ////
+    ros1: {
+      ////
+      //// ROS_MASTER_URI: A URI of the ROS1 Master to connect to, the defailt is http://localhost:11311/
+      ////
+      // ROS_MASTER_URI: "http://localhost:11311/",
+
+      ////
+      //// ROS_HOSTNAME: A hostname to send to ROS1 Master, the default is system's hostname
+      ////
+      // ROS_HOSTNAME: "hostname",
+
+      ////
+      //// ROS_NAME: A bridge node's name for ROS1, the default is "ros1_to_zenoh_bridge" 
+      ////
+      // ROS_NAME: "ros1_to_zenoh_bridge",
+
+      ////
+      //// ROS_BRIDGING_MODE: When to bridge topics:
+      //// "Automatic"(default) - bridge topics once they are declared locally
+      //// "Lazy" - bridge topics once they are declared both locally and required remotely through discovery
+      //// Warn: this setting is ignored for local ROS1 clients, as they require a tricky discovery mechanism  
+      ////
+      // ROS_BRIDGING_MODE: "Automatic",
+
+      ////
+      //// ROS_MASTER_POLLING_INTERVAL: An interval how to poll the ROS1 master for status
+      //// Bridge polls ROS1 master to get information on local topics, as this is the only way to keep
+      //// this info updated. This is the interval of this polling. The default is "100ms"
+      ////
+      //// Takes a string such as 100ms, 2s, 5m
+      //// The string format is [0-9]+(ns|us|ms|[smhdwy])
+      ////
+      // ROS_MASTER_POLLING_INTERVAL: "100ms",
+    },
+
+    ////
+    //// REST API configuration (active only if this part is defined)
+    ////
+    // rest: {
+    //   ////
+    //   //// The HTTP port number (for all network interfaces).
+    //   //// You can bind on a specific interface setting a "<local_ip>:<port>" string.
+    //   ////
+    //   http_port: 8000,
+    // },
+  },
+
+  ////
+  //// zenoh related configuration (see zenoh documentation for more details)
+  ////
+
+  ////
+  //// id: The identifier (as hex-string) that zenoh-bridge-ros1 must use. If not set, a random UUIDv4 will be used.
+  //// WARNING: this id must be unique in your zenoh network.
+  // id: "A00001",
+
+  ////
+  //// mode: The bridge's mode (peer or client)
+  ////
+  //mode: "client",
+
+  ////
+  //// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  //// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
+  ////
+  connect: {
+    endpoints: [
+      // "<proto>/<ip>:<port>"
+    ]
+  },
+
+  ////
+  //// Which endpoints to listen on. E.g. tcp/localhost:7447.
+  //// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers, 
+  //// peers, or client can use to establish a zenoh session.
+  ////
+  listen: {
+    endpoints: [
+      // "<proto>/<ip>:<port>"
+    ]
+  },
+}