Add rmw_zenoh_cpp and de-vendor zenoh_cpp_vendor

[traversaro]

Fix #252 .

fyi @wep21

[wep21]

❯ pixi search "libzenohcxx"
Using channels: https://repo.prefix.dev/conda-forge/

libzenohcxx-1.0.4-h286801f_0
----------------------------

Name                libzenohcxx        
Version             1.0.4
Build               h286801f_0         
Size                54186              
License             Apache-2.0 OR EPL-2.0
Subdir              osx-arm64          
File Name           libzenohcxx-1.0.4-h286801f_0.conda
URL                 https://repo.prefix.dev/conda-forge/osx-arm64/libzenohcxx-1.0.4-h286801f_0.conda
MD5                 c77db6386d27a017defa2e912b10ad1d
SHA256              f67c131135586752e40894b63cc163bfa10bccf2b8925cf02f33b4adc5e73570

Dependencies:
 - __osx >=11.0
 - libcxx >=18
 - libzenohc >=1.0.4,<1.0.5.0a0

Other Versions (3):
Version  Build      
1.0.2    h286801f_0 
1.0.1    h286801f_0 
1.0.0    h5833ebf_0 

Is the latest version 1.0.4?

[traversaro]

I merged conda-forge/zenoh-cpp-feedstock#20 some minutes ago, we need some time for metadata propagation I guess.

[traversaro]

Build fails with:

 [9/41] Building CXX object CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o
 │ │ FAILED: CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o 
 │ │ $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-c++ -DRMW_VERSION_MAJOR=6 -DRMW_VERSION_MINOR=1 -DRMW_VERSION_PATCH=2 -DZENOHCXX_ZENOHC -Drmw_zenoh_cpp_EXPORTS -i
 │ │ system $PREFIX/include/ament_index_cpp -isystem $PREFIX/include/rcpputils -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rosidl_typesupport_fast
 │ │ rtps_c -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rosidl_typesupport_interface -isystem $PREFIX/include/rosidl_typesupport_fastrtps
 │ │ _cpp -isystem $PREFIX/include/rmw -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-stro
 │ │ ng -fno-plt -O2 -ffunction-sections -pipe -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-humble-rmw-zenoh-cpp-0.1.0 -fdebug-
 │ │ prefix-map=$PREFIX=/usr/local/src/conda-prefix -D__STDC_FORMAT_MACROS=1 -O3 -DNDEBUG -std=gnu++17 -fPIC -fvisibility=hidden -fvisibility-inlines-hidden -Wa
 │ │ ll -Wextra -Wpedantic -MD -MT CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o -MF CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp
 │ │ .o.d -o CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o -c $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_client_data.cpp
 │ │ In file included from $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_node_data.hpp:29,
 │ │                  from $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_context_impl_s.hpp:26,
 │ │                  from $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_client_data.cpp:38:
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:59:26: error: 'ShmProvider' is not a member of 'zenoh'
 │ │    59 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                          ^~~~~~~~~~~
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:59:37: error: template argument 1 is invalid
 │ │    59 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                                     ^
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:64:26: error: 'ShmProvider' is not a member of 'zenoh'
 │ │    64 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                          ^~~~~~~~~~~
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:64:37: error: template argument 1 is invalid
 │ │    64 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                                     ^
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:97:31: error: 'PublicationCache' is not a member of 'zenoh::ext'
 │ │    97 |     std::optional<zenoh::ext::PublicationCache> pub_cache,

I think I know the reason for this.

[traversaro]

Build fails with:

 [9/41] Building CXX object CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o
 │ │ FAILED: CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o 
 │ │ $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-c++ -DRMW_VERSION_MAJOR=6 -DRMW_VERSION_MINOR=1 -DRMW_VERSION_PATCH=2 -DZENOHCXX_ZENOHC -Drmw_zenoh_cpp_EXPORTS -i
 │ │ system $PREFIX/include/ament_index_cpp -isystem $PREFIX/include/rcpputils -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rosidl_typesupport_fast
 │ │ rtps_c -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rosidl_typesupport_interface -isystem $PREFIX/include/rosidl_typesupport_fastrtps
 │ │ _cpp -isystem $PREFIX/include/rmw -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-stro
 │ │ ng -fno-plt -O2 -ffunction-sections -pipe -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-humble-rmw-zenoh-cpp-0.1.0 -fdebug-
 │ │ prefix-map=$PREFIX=/usr/local/src/conda-prefix -D__STDC_FORMAT_MACROS=1 -O3 -DNDEBUG -std=gnu++17 -fPIC -fvisibility=hidden -fvisibility-inlines-hidden -Wa
 │ │ ll -Wextra -Wpedantic -MD -MT CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o -MF CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp
 │ │ .o.d -o CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_client_data.cpp.o -c $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_client_data.cpp
 │ │ In file included from $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_node_data.hpp:29,
 │ │                  from $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_context_impl_s.hpp:26,
 │ │                  from $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_client_data.cpp:38:
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:59:26: error: 'ShmProvider' is not a member of 'zenoh'
 │ │    59 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                          ^~~~~~~~~~~
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:59:37: error: template argument 1 is invalid
 │ │    59 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                                     ^
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:64:26: error: 'ShmProvider' is not a member of 'zenoh'
 │ │    64 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                          ^~~~~~~~~~~
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:64:37: error: template argument 1 is invalid
 │ │    64 |     std::optional<zenoh::ShmProvider> & shm_provider);
 │ │       |                                     ^
 │ │ $SRC_DIR/ros-humble-rmw-zenoh-cpp/src/work/src/detail/rmw_publisher_data.hpp:97:31: error: 'PublicationCache' is not a member of 'zenoh::ext'
 │ │    97 |     std::optional<zenoh::ext::PublicationCache> pub_cache,

I think I know the reason for this.

Fixed by conda-forge/zenoh-c-feedstock#31 . The PR is ready for review.

[Tobias-Fischer]

Great work, thanks @traversaro :)!