everything works

Author: Edwardius

deep_core/CMakeLists.txt

@@ -28,6 +28,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(bondcpp REQUIRED)
 
 set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
@@ -46,6 +47,7 @@ target_link_libraries(${DEEP_CORE_LIB}
     rclcpp::rclcpp
     rclcpp_lifecycle::rclcpp_lifecycle
     pluginlib::pluginlib
+    bondcpp::bondcpp
 )
 
 install(TARGETS
@@ -69,7 +71,8 @@ if(BUILD_TESTING)
   find_package(deep_test REQUIRED)
 
   add_deep_test(test_deep_core test/test_deep_core.cpp
-    LIBRARIES ${DEEP_CORE_LIB}
+    LIBRARIES
+      ${DEEP_CORE_LIB}
   )
 
 endif()

deep_core/include/deep_core/deep_node_base.hpp

@@ -19,6 +19,7 @@
 #include <string>
 #include <vector>
 
+#include <bondcpp/bond.hpp>
 #include <pluginlib/class_list_macros.hpp>
 #include <pluginlib/class_loader.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
@@ -191,8 +192,15 @@ class DeepNodeBase : public rclcpp_lifecycle::LifecycleNode
   std::string current_plugin_name_;
   std::filesystem::path current_model_path_;
 
+  // Bond support
+  std::unique_ptr<bond::Bond> bond_;
+  bool bond_enabled_;
+  double bond_timeout_;
+  double bond_heartbeat_period_;
+
   // ROS parameters
   void declare_parameters();
+  void setup_bond();
 };
 
 }  // namespace deep_ros

deep_core/package.xml

@@ -11,6 +11,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>pluginlib</depend>
+  <depend>bondcpp</depend>
 
   <test_depend>deep_test</test_depend>
 

deep_core/src/deep_node_base.cpp

@@ -35,12 +35,20 @@ void DeepNodeBase::declare_parameters()
 {
   declare_parameter("Backend.plugin", "");
   declare_parameter("model_path", "");
+
+  // Bond parameters
+  declare_parameter("Bond.enable", false);
+  declare_parameter("Bond.bond_timeout", 4.0);
+  declare_parameter("Bond.bond_heartbeat_period", 0.1);
 }
 
 CallbackReturn DeepNodeBase::on_configure(const rclcpp_lifecycle::State & state)
 {
   RCLCPP_INFO(get_logger(), "Configuring DeepNodeBase");
 
+  // Setup bond if enabled
+  setup_bond();
+
   std::string backend_plugin = get_parameter("Backend.plugin").as_string();
   if (!backend_plugin.empty()) {
     if (!load_plugin(backend_plugin)) {
@@ -63,6 +71,13 @@ CallbackReturn DeepNodeBase::on_configure(const rclcpp_lifecycle::State & state)
 CallbackReturn DeepNodeBase::on_activate(const rclcpp_lifecycle::State & state)
 {
   RCLCPP_INFO(get_logger(), "Activating DeepNodeBase");
+
+  // Start bond if enabled
+  if (bond_enabled_ && bond_) {
+    bond_->start();
+    RCLCPP_INFO(get_logger(), "Bond started");
+  }
+
   return on_activate_impl(state);
 }
 
@@ -75,6 +90,13 @@ CallbackReturn DeepNodeBase::on_deactivate(const rclcpp_lifecycle::State & state
 CallbackReturn DeepNodeBase::on_cleanup(const rclcpp_lifecycle::State & state)
 {
   RCLCPP_INFO(get_logger(), "Cleaning up DeepNodeBase");
+
+  // Stop bond if active
+  if (bond_) {
+    bond_.reset();
+    RCLCPP_INFO(get_logger(), "Bond stopped and cleaned up");
+  }
+
   unload_model();
   plugin_.reset();
   return on_cleanup_impl(state);
@@ -83,6 +105,13 @@ CallbackReturn DeepNodeBase::on_cleanup(const rclcpp_lifecycle::State & state)
 CallbackReturn DeepNodeBase::on_shutdown(const rclcpp_lifecycle::State & state)
 {
   RCLCPP_INFO(get_logger(), "Shutting down DeepNodeBase");
+
+  // Stop bond if active
+  if (bond_) {
+    bond_.reset();
+    RCLCPP_INFO(get_logger(), "Bond stopped and cleaned up");
+  }
+
   unload_model();
   plugin_.reset();
   return on_shutdown_impl(state);
@@ -187,4 +216,28 @@ pluginlib::UniquePtr<DeepBackendPlugin> DeepNodeBase::load_plugin_library(const
   return plugin_loader_->createUniqueInstance(plugin_name);
 }
 
+void DeepNodeBase::setup_bond()
+{
+  bond_enabled_ = get_parameter("Bond.enable").as_bool();
+  bond_timeout_ = get_parameter("Bond.bond_timeout").as_double();
+  bond_heartbeat_period_ = get_parameter("Bond.bond_heartbeat_period").as_double();
+
+  if (bond_enabled_) {
+    RCLCPP_INFO(
+      get_logger(), "Setting up bond with timeout: %.1fs, heartbeat: %.1fs", bond_timeout_, bond_heartbeat_period_);
+
+    // Create bond with standard topic name and node name as bond ID
+    std::string bond_topic = "/bond";
+    bond_ = std::make_unique<bond::Bond>(bond_topic, get_name(), shared_from_this());
+
+    // Configure bond parameters
+    bond_->setHeartbeatPeriod(bond_heartbeat_period_);
+    bond_->setHeartbeatTimeout(bond_timeout_);
+
+    RCLCPP_INFO(get_logger(), "Bond configured on topic: %s", bond_topic.c_str());
+  } else {
+    RCLCPP_INFO(get_logger(), "Bond disabled");
+  }
+}
+
 }  // namespace deep_ros

deep_ort_backend_plugin/CMakeLists.txt

@@ -48,10 +48,10 @@ target_include_directories(${DEEP_ORT_LIB} PUBLIC
 
 target_link_libraries(${DEEP_ORT_LIB}
   PUBLIC
-    deep_core::deep_core_lib
     pluginlib::pluginlib
     rclcpp::rclcpp
   PRIVATE
+    deep_core::deep_core_lib
     onnxruntime_vendor::onnxruntime_lib
 )
 
@@ -76,14 +76,21 @@ install(FILES plugins.xml
   DESTINATION share/${PROJECT_NAME}
 )
 
+# Export plugin description file to ament index
+pluginlib_export_plugin_description_file(deep_core plugins.xml)
+
 if(BUILD_TESTING)
   find_package(deep_test REQUIRED)
 
   add_deep_test(test_ort_backend test/test_ort_backend.cpp
-    LIBRARIES ${DEEP_ORT_LIB} onnxruntime_vendor::onnxruntime_lib
+    LIBRARIES
+      ${DEEP_ORT_LIB}
+      deep_core::deep_core_lib
+      onnxruntime_vendor::onnxruntime_lib
   )
 
 endif()
 
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_export_libraries(${DEEP_ORT_LIB})
 ament_package()

deep_ort_backend_plugin/package.xml

@@ -17,6 +17,5 @@
 
   <export>
     <build_type>ament_cmake</build_type>
-    <pluginlib plugin="${prefix}/plugins.xml"/>
   </export>
 </package>

deep_sample/CMakeLists.txt

@@ -26,37 +26,49 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(deep_core REQUIRED)
 find_package(deep_conversions REQUIRED)
-find_package(deep_ort_backend_plugin REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(bondcpp REQUIRED)
 
-# Sample inference node
-add_executable(sample_inference_node
+# Sample inference component library
+add_library(sample_inference_component SHARED
   src/sample_inference_node.cpp
 )
 
-target_include_directories(sample_inference_node PUBLIC
+target_include_directories(sample_inference_component PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
 
-target_link_libraries(sample_inference_node
-  deep_core::deep_core_lib
-  deep_conversions::deep_conversions_lib
-  deep_ort_backend_plugin::deep_ort_backend_plugin_lib
-  pluginlib::pluginlib
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  ${sensor_msgs_TARGETS}
-  ${std_msgs_TARGETS}
+target_link_libraries(sample_inference_component
+  PUBLIC
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+    rclcpp_components::component
+    ${sensor_msgs_TARGETS}
+    ${std_msgs_TARGETS}
+    bondcpp::bondcpp
+  PRIVATE
+    deep_core::deep_core_lib
+    deep_conversions::deep_conversions_lib
 )
 
-# Install executable
-install(TARGETS sample_inference_node
-  DESTINATION lib/${PROJECT_NAME}
+# Register the component and create executable
+rclcpp_components_register_node(sample_inference_component
+  PLUGIN deep_sample::SampleInferenceNode
+  EXECUTABLE sample_inference_node
+)
+
+# Install component library and executable
+install(TARGETS sample_inference_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 # Install config and launch files
@@ -65,8 +77,7 @@ install(DIRECTORY config launch models
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+
 endif()
 
 ament_package()

deep_sample/config/sample_config.yaml

@@ -0,0 +1,37 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# 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.
+
+# Configuration for deep_sample inference node
+sample_inference_node:
+  ros__parameters:
+    # Backend configuration
+    Backend:
+      plugin: "onnxruntime_cpu"
+
+    # Bond configuration
+    Bond:
+      enable: true
+      bond_timeout: 4.0
+      bond_heartbeat_period: 0.1
+
+    # Model configuration
+    model_path: "/workspaces/deep_ros/install/deep_sample/share/deep_sample/models/tiny_model.onnx"
+
+    # Topic configuration
+    input_topic: "/camera/image_raw"
+    output_topic: "/inference/output"
+
+    # Node-specific parameters
+    use_sim_time: false
+    log_level: "info"