Add Zenoh support (#138)

* Add generator for zenoh router service script

* Add the ZENOH_ROUTER_CONFIG_URI envar to the generated bash file, populated with either the default path or the user-specified one as needed

clearpath_generator_common/CMakeLists.txt

@@ -17,6 +17,7 @@ install(PROGRAMS
   ${PROJECT_NAME}/bash/generate_bash
   ${PROJECT_NAME}/semantic_description/generate_semantic_description
   ${PROJECT_NAME}/vcan/generate_vcan
+  ${PROJECT_NAME}/zenoh_router/generate_zenoh_router
   DESTINATION lib/${PROJECT_NAME}
 )
 

clearpath_generator_common/clearpath_generator_common/zenoh_router/generate_zenoh_router

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Chris Iverach-Brereton <[email protected]>
+# @copyright (c) 2025, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from clearpath_generator_common.common import BaseGenerator
+from clearpath_generator_common.zenoh_router.generator import ZenohRouterGenerator
+
+
+def main():
+    setup_path = BaseGenerator.get_args()
+    dsg = ZenohRouterGenerator(setup_path)
+    dsg.generate()
+
+
+if __name__ == '__main__':
+    main()

clearpath_generator_common/clearpath_generator_common/zenoh_router/generator.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Chris Iverach-Brereton <[email protected]>
+# @copyright (c) 2025, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from clearpath_config.common.types.discovery import Discovery
+from clearpath_config.common.types.rmw_implementation import RMWImplementation
+from clearpath_generator_common.bash.writer import BashWriter
+from clearpath_generator_common.common import BaseGenerator, BashFile
+from clearpath_generator_common.ros import ROS_DISTRO_PATH
+
+
+class ZenohRouterGenerator(BaseGenerator):
+
+    def generate(self) -> None:
+        # Generate the file that launches the Zenoh router
+        self.generate_server_start()
+
+    def generate_server_start(self) -> None:
+        # Generate script that launches Zenoh router
+        zenoh_router_start = BashFile(filename='zenoh-router-start', path=self.setup_path)
+        bash_writer = BashWriter(zenoh_router_start)
+
+        # Source ROS
+        ros_setup_bash = BashFile(filename='setup.bash', path=ROS_DISTRO_PATH)
+        bash_writer.add_source(ros_setup_bash)
+
+        # If Fast DDS Discovery Server is selected then check if a local server should be run
+        middleware_config = self.clearpath_config.system.middleware
+        if middleware_config.rmw_implementation == RMWImplementation.ZENOH_DDS:
+
+            if middleware_config.zenoh_router_config_uri:
+                # use the user-specified router config file
+                bash_writer.write(
+                    f'export ZENOH_ROUTER_CONFIG_URI={middleware_config.zenoh_router_config_uri}'  # noqa: E501
+                )
+            else:
+                # use the default router config file
+                bash_writer.write(
+                    'export ZENOH_ROUTER_CONFIG_URI="$(ros2 pkg prefix rmw_zenoh_cpp)/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5"'  # noqa: E501
+                )
+            bash_writer.write(
+                'ros2 run rmw_zenoh_cpp rmw_zenohd\n'
+            )
+        else:
+            bash_writer.add_echo(
+                'RMW Implementation is not Zenoh. ' +
+                'If this was launched as a service then the service will now end.'
+            )
+
+        bash_writer.close()