Using binary releases for bridges

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

nexus_integration_tests/launch/zenoh_bridge.launch.py

@@ -40,7 +40,7 @@ def launch_setup(context, *args, **kwargs):
 
     cmd = [
         ExecutableInPackage(
-            executable="zenoh_bridge_ros2dds",
+            executable="zenoh-bridge-ros2dds",
             package="nexus_zenoh_bridge_dds_vendor",
         ),
         "--config",

nexus_zenoh_bridge_dds_vendor/CMakeLists.txt

@@ -8,19 +8,26 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_vendor_package REQUIRED)
 
-ament_vendor(zeno_bridge_dds_vendor
-  VCS_URL https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
-  VCS_VERSION 1.0.3
+set(ZENOH_VERSION "1.0.3")
+set(BINARY_URL "https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/${ZENOH_VERSION}/zenoh-plugin-ros2dds-${ZENOH_VERSION}-x86_64-unknown-linux-gnu-standalone.zip")
+set(BINARY_DIR "${CMAKE_BINARY_DIR}/download")
+file(DOWNLOAD ${BINARY_URL} ${BINARY_DIR}/zenoh-plugin-ros2dds.zip)
+
+find_program(UNZIP_EXECUTABLE unzip)
+if(NOT UNZIP_EXECUTABLE)
+  message(FATAL_ERROR "unzip command not found. Please install it.")
+endif()
+
+execute_process(
+  COMMAND ${UNZIP_EXECUTABLE} ${BINARY_DIR}/zenoh-plugin-ros2dds.zip
+  WORKING_DIRECTORY ${BINARY_DIR}
 )
 
-# TODO(sloretz) make a nice way to get this path from ament_vendor
-set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/zeno_bridge_dds_vendor-prefix/install")
 install(
-  DIRECTORY "${INSTALL_DIR}/lib/zenoh_bridge_ros2dds/"
+  FILES ${BINARY_DIR}/zenoh-bridge-ros2dds
   DESTINATION "lib/${PROJECT_NAME}"
-  USE_SOURCE_PERMISSIONS
+  PERMISSIONS OWNER_EXECUTE
 )
 
 ament_package()

nexus_zenoh_bridge_dds_vendor/package.xml

@@ -8,7 +8,6 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
   <build_depend>cargo</build_depend>
   <build_depend>clang</build_depend>