Initial commit

.devcontainer/Dockerfile

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+FROM ros:jazzy
+
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y python3-pip
+
+COPY devcontainer.env .
+RUN $(cat devcontainer.env) && \
+    git clone "https://${GITHUB_USERNAME}:${GITHUB_TOKEN}@github.com/p2p-industries/hyveos_ros_msgs.git" /home/p2p-industries/src/hyveos_msgs
+RUN $(cat devcontainer.env) && \
+    python3 -m pip install -U --break-system-packages "git+https://${GITHUB_USERNAME}:${GITHUB_TOKEN}@github.com/p2p-industries/hyveos.git#subdirectory=sdks/python"
+RUN rm devcontainer.env
+
+ENV SHELL=/bin/bash
+
+WORKDIR /home/p2p-industries/src/hyveos
+
+CMD ["/bin/bash"]

.devcontainer/devcontainer.json

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+{
+    "name": "P2P Industries ROS 2 Development Container",
+    "build": {
+        "dockerfile": "Dockerfile"
+    },
+    "workspaceFolder": "/home/p2p-industries/src/hyveos",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/p2p-industries/src/hyveos,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "unix:0",
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
+        "ROS_DOMAIN_ID": "42"
+    },
+    "postCreateCommand": "rosdep update && rosdep install --from-paths .. --ignore-src -y"
+}

.gitignore

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+.vscode/
+.zed/
+
+.devcontainer/devcontainer.env

LICENSE

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+Copyright (c) 2025 P2P Industries Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

README.md

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+# hyveos_ros
+
+This repository contains the HyveOS ROS 2 bridge.

hyveos/test.py

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+import asyncio
+import rclpy
+from rclpy.node import Node
+
+from hyveos_msgs.msg import Test as TestMsg
+from hyveos_msgs.srv import Test as TestSrv
+
+class Test(Node):
+    def __init__(self):
+        super().__init__('test')
+        self.publisher_ = self.create_publisher(TestMsg, 'test', 10)
+        self.service_ = self.create_service(TestSrv, 'test', self._service_callback)
+
+    async def _service_callback(self, request, response):
+        response.resp = f'Hello, {request.req}!'
+        return response
+
+    async def run(self):
+        while rclpy.ok():
+            msg = TestMsg()
+            msg.data = 'Hello, World!'
+            self.publisher_.publish(msg)
+            await asyncio.sleep(1)
+
+async def ros_loop(node):
+    while rclpy.ok():
+        rclpy.spin_once(node, timeout_sec=0)
+        await asyncio.sleep(1e-4)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    test = Test()
+
+    future = asyncio.gather(ros_loop(test), test.run())
+    asyncio.get_event_loop().run_until_complete(future)
+
+    test.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hyveos</name>
+  <version>0.1.0</version>
+  <description>The HyveOS ROS 2 bridge</description>
+  <maintainer email="josef@walterzollerpiano.com">Josef Zoller</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>hyveos_msgs</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

setup.cfg

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+[develop]
+script_dir=$base/lib/hyveos
+[install]
+install_scripts=$base/lib/hyveos

setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'hyveos'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Josef Zoller',
+    maintainer_email='josef@walterzollerpiano.com',
+    description='The HyveOS ROS 2 bridge',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'test = hyveos.test:main',
+        ],
+    },
+)

test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'