revision after feedback from ros2/rmw_zenoh#404

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "rmw_zenoh"]
 	path = rmw_zenoh
 	url = [email protected]:ros2/rmw_zenoh.git
-[submodule "ouster-ros"]
-	path = ouster-ros
-	url = [email protected]:ouster-lidar/ouster-ros.git

Dockerfile

@@ -0,0 +1,42 @@
+FROM ros:jazzy-ros-base
+
+ENV ROS_WS=/ros2
+WORKDIR $ROS_WS
+
+COPY rmw_zenoh src/rmw_zenoh
+COPY meta src/meta
+
+RUN apt-get update &&\
+    rosdep update &&\
+    rosdep install --from-paths src --ignore-src -y &&\
+    rm -rf /var/lib/apt/lists/*
+
+SHELL ["/bin/bash", "-c"]
+
+RUN source /opt/ros/$ROS_DISTRO/setup.bash &&\
+    colcon build \
+        --event-handlers console_direct+ \
+        --parallel-workers $(nproc) \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ARG INSTALL_DESKTOP=false
+
+RUN if [ "$INSTALL_DESKTOP" = "true" ]; then \
+        apt-get update &&\
+        apt-get install -y ros-${ROS_DISTRO}-desktop &&\
+        rm -rf /var/lib/apt/lists/*; \
+    fi
+
+COPY ouster_simulator src/ouster_simulator
+
+RUN source /opt/ros/$ROS_DISTRO/setup.bash &&\
+    colcon build \
+        --event-handlers console_direct+ \
+        --parallel-workers $(nproc) \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ENV ROS_DOMAIN_ID=10
+ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp
+COPY entrypoint.sh .
+ENTRYPOINT ["./entrypoint.sh"]
+

meta/package.xml

@@ -11,7 +11,6 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>demo_nodes_cpp</exec_depend>
-  <exec_depend>desktop</exec_depend>
   <exec_depend>foxglove_bridge</exec_depend>
 
 </package>

ouster_simulator/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.8)
+project(ouster_simulator)
+
+set(CMAKE_CXX_STANDARD 17)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_executable(ouster_publisher_node src/ouster_publisher_node.cpp)
+ament_target_dependencies(
+  ouster_publisher_node
+  rclcpp
+  sensor_msgs
+)
+
+add_executable(ouster_subscriber_node src/ouster_subscriber_node.cpp)
+ament_target_dependencies(
+  ouster_subscriber_node
+  rclcpp
+  sensor_msgs
+)
+
+install(
+  TARGETS ouster_publisher_node ouster_subscriber_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()
+

ouster_simulator/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>ouster_simulator</name>
+  <version>0.0.1</version>
+  <description>Example package that publishes/subscibes pointclouds in ouster format</description>
+  <maintainer email="[email protected]">Your Name</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>