Add ros2_node cli (#99)

README.md

@@ -26,6 +26,7 @@ Available features:
   - Zero copy transport via shared memory backend ([iceoryx](https://github.com/eclipse-iceoryx/iceoryx)) for CycloneDDS.
 - Utilities:
   - `ros2_bag` for handling rosbags
+  - `ros2_node` for handling nodes
   - `ros2_param` for handling parameters
   - `ros2_service` for handling services
   - `ros2_topic` for handling topics

ros2/BUILD.bazel

@@ -32,6 +32,16 @@ py_library(
     ],
 )
 
+py_binary(
+    name = "ros2_node",
+    srcs = ["ros2_node.py"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":ros2_cmd",
+        "@ros2cli//:ros2node",
+    ],
+)
+
 py_binary(
     name = "ros2_param",
     srcs = ["ros2_param.py"],

ros2/ros2_node.py

@@ -0,0 +1,28 @@
+# Copyright 2023 Laurenz Altenmueller
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import sys
+
+import ros2cli.cli
+import ros2node.verb.info
+import ros2node.verb.list
+
+import ros2.ros2_cmd
+
+COMMAND_EXTENSIONS = {
+    'info': ros2node.verb.info.InfoVerb(),
+    'list': ros2node.verb.list.ListVerb(),
+}
+
+extension = ros2.ros2_cmd.Ros2CommandExtension(COMMAND_EXTENSIONS)
+sys.exit(ros2cli.cli.main(argv=sys.argv[1:], extension=extension))