From 8631304527ec61b9c43d7a862a8df9dd241b96ec Mon Sep 17 00:00:00 2001
From: Philipp Oppermann <dev@phil-opp.com>
Date: Fri, 21 Jul 2023 16:08:36 +0200
Subject: [PATCH] Add a `rust-ros2-dataflow` example using the dora-ros2-bridge

The bridge allows nodes to send and receive to/from both ros2 and dora.
---
 Cargo.lock                                   | 1101 +++++++++++++-----
 Cargo.toml                                   |   10 +
 examples/rust-ros2-dataflow/dataflow.yml     |    9 +
 examples/rust-ros2-dataflow/node/Cargo.toml  |   15 +
 examples/rust-ros2-dataflow/node/src/main.rs |  134 +++
 examples/rust-ros2-dataflow/run.rs           |   55 +
 6 files changed, 1056 insertions(+), 268 deletions(-)
 create mode 100644 examples/rust-ros2-dataflow/dataflow.yml
 create mode 100644 examples/rust-ros2-dataflow/node/Cargo.toml
 create mode 100644 examples/rust-ros2-dataflow/node/src/main.rs
 create mode 100644 examples/rust-ros2-dataflow/run.rs

diff --git a/Cargo.lock b/Cargo.lock
index 210bc9d6..075836fb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,6 +2,15 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "addr2line"
+version = "0.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a76fd60b23679b7d19bd066031410fb7e458ccc5e958eb5c325888ce4baedc97"
+dependencies = [
+ "gimli",
+]
+
 [[package]]
 name = "adler"
 version = "1.0.2"
@@ -10,11 +19,11 @@ checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
 [[package]]
 name = "aes"
-version = "0.8.2"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "433cfd6710c9986c576a25ca913c39d66a6474107b406f34f91d4a8923395241"
+checksum = "ac1f845298e95f983ff1944b728ae08b8cebab80d684f0a832ed0fc74dfa27e2"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "cipher",
  "cpufeatures",
 ]
@@ -25,7 +34,7 @@ version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2c99f64d1e06488f620f932677e24bc6e2897582980441ae90a671415bd7ec2f"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "const-random",
  "getrandom",
  "once_cell",
@@ -43,13 +52,19 @@ dependencies = [
 
 [[package]]
 name = "aho-corasick"
-version = "1.0.1"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fc08ce920c31afb70f013dcce1bfc3a3195de6a228474e45e1f145b36f8d04"
+checksum = "43f6cb1bf222025340178f382c426f13757b2960e89779dfcb319c32542a5a41"
 dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "android-tzdata"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0"
+
 [[package]]
 name = "android_system_properties"
 version = "0.1.5"
@@ -85,15 +100,15 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.0"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41ed9a86bf92ae6580e0a31281f65a1b1d867c0cc68d5346e2ae128dddfa6a7d"
+checksum = "3a30da5c5f2d5e72842e00bcb57657162cdabef0931f40e2deb9b4140440cecd"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.0"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e765fd216e48e067936442276d1d57399e37bce53c264d6fefbe298080cb57ee"
+checksum = "938874ff5980b03a87c5524b3ae5b59cf99b1d6bc836848df7bc5ada9643c333"
 dependencies = [
  "utf8parse",
 ]
@@ -267,7 +282,7 @@ dependencies = [
  "arrow-schema",
  "chrono",
  "half",
- "indexmap",
+ "indexmap 1.9.3",
  "lexical-core",
  "num",
  "serde_json",
@@ -398,7 +413,7 @@ checksum = "0fc5b45d93ef0529756f812ca52e44c221b35341892d3dcc34132ac02f3dd2af"
 dependencies = [
  "async-lock",
  "autocfg",
- "cfg-if",
+ "cfg-if 1.0.0",
  "concurrent-queue",
  "futures-lite",
  "log",
@@ -406,7 +421,7 @@ dependencies = [
  "polling",
  "rustix",
  "slab",
- "socket2",
+ "socket2 0.4.9",
  "waker-fn",
 ]
 
@@ -429,7 +444,7 @@ dependencies = [
  "async-lock",
  "autocfg",
  "blocking",
- "cfg-if",
+ "cfg-if 1.0.0",
  "event-listener",
  "futures-lite",
  "rustix",
@@ -495,7 +510,7 @@ checksum = "16e62a023e7c117e27523144c5d2459f4397fcc3cab0085af8e2224f643a0193"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -512,7 +527,7 @@ checksum = "b9ccdd8f2a161be9bd5c023df56f1b2a0bd1d83872ae53b71a84a12c9bf6e842"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -529,7 +544,7 @@ checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8"
 dependencies = [
  "hermit-abi 0.1.19",
  "libc",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -538,6 +553,21 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
 
+[[package]]
+name = "backtrace"
+version = "0.3.67"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "233d376d6d185f2a3093e58f283f60f880315b6c60075b01f36b3b85154564ca"
+dependencies = [
+ "addr2line",
+ "cc",
+ "cfg-if 1.0.0",
+ "libc",
+ "miniz_oxide 0.6.2",
+ "object",
+ "rustc-demangle",
+]
+
 [[package]]
 name = "base64"
 version = "0.13.1"
@@ -546,9 +576,9 @@ checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 
 [[package]]
 name = "base64"
-version = "0.21.1"
+version = "0.21.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f1e31e207a6b8fb791a38ea3105e6cb541f55e4d029902d3039a4ad07cc4105"
+checksum = "604178f6c5c21f02dc555784810edfb88d34ac2c73b2eae109655649ee73ce3d"
 
 [[package]]
 name = "base64ct"
@@ -567,7 +597,7 @@ dependencies = [
  "bincode",
  "bugreport",
  "bytesize",
- "clap 4.3.0",
+ "clap 4.3.9",
  "clircle",
  "console",
  "content_inspector",
@@ -625,6 +655,12 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "bit-vec"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -692,9 +728,9 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.12.2"
+version = "3.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c6ed94e98ecff0c12dd1b04c15ec0d7d9458ca8fe806cea6f12954efe74c63b"
+checksum = "a3e2c3daef883ecc1b5d58c15adae93470a91d425f3532ba1695849656af3fc1"
 
 [[package]]
 name = "bytemuck"
@@ -713,6 +749,9 @@ name = "bytes"
 version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "89b2fd2a0dcf38d7971e2194b6b6eebab45ae01067456a7fd93d5547a61b70be"
+dependencies = [
+ "serde",
+]
 
 [[package]]
 name = "bytesize"
@@ -750,12 +789,38 @@ dependencies = [
  "jobserver",
 ]
 
+[[package]]
+name = "cdr-encoding-size"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6284427c36501921fa5af3ef506ecc62bd068a48fe6c83b85a60a813cb70f9e9"
+dependencies = [
+ "cdr-encoding-size-derive",
+]
+
+[[package]]
+name = "cdr-encoding-size-derive"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e3c7f0958c79c8bc5fda038ddadccfcf48a510f43186de3725f56d60c73bf89"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "cesu8"
 version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6d43a04d8753f35258c91f8ec639f792891f748a1edbd759cf1dcea3382ad83c"
 
+[[package]]
+name = "cfg-if"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
@@ -764,14 +829,18 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.24"
+version = "0.4.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e3c5919066adf22df73762e50cffcde3a758f2a848b113b586d1f86728b673b"
+checksum = "ec837a71355b28f6556dbd569b37b3f363091c0bd4b2e735674521b4c5fd9bc5"
 dependencies = [
+ "android-tzdata",
  "iana-time-zone",
- "num-integer",
+ "js-sys",
  "num-traits",
- "winapi",
+ "serde",
+ "time 0.1.45",
+ "wasm-bindgen",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -794,7 +863,7 @@ dependencies = [
  "bitflags",
  "clap_derive 3.2.25",
  "clap_lex 0.2.4",
- "indexmap",
+ "indexmap 1.9.3",
  "once_cell",
  "strsim",
  "termcolor",
@@ -803,20 +872,20 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.3.0"
+version = "4.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93aae7a4192245f70fe75dd9157fc7b4a5bf53e88d30bd4396f7d8f9284d5acc"
+checksum = "bba77a07e4489fb41bd90e8d4201c3eb246b3c2c9ea2ba0bddd6c1d1df87db7d"
 dependencies = [
  "clap_builder",
- "clap_derive 4.3.0",
+ "clap_derive 4.3.2",
  "once_cell",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.3.0"
+version = "4.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4f423e341edefb78c9caba2d9c7f7687d0e72e89df3ce3394554754393ac3990"
+checksum = "2c9b4a88bb4bc35d3d6f65a21b0f0bafe9c894fa00978de242c555ec28bea1c0"
 dependencies = [
  "anstream",
  "anstyle",
@@ -842,14 +911,14 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.3.0"
+version = "4.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "191d9573962933b4027f932c600cd252ce27a8ad5979418fe78e43c07996f27b"
+checksum = "b8cd2b2a819ad6eec39e8f1d6b53001af1e5469f8c177579cdaeb313115b825f"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -873,10 +942,10 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e68bbd985a63de680ab4d1ad77b6306611a8f961b282c8b5ab513e6de934e396"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
  "serde",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -994,9 +1063,9 @@ checksum = "e496a50fda8aacccc86d7529e2c1e0892dbd0f898a6b5645b5561b89c3210efa"
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.7"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e4c1eaa2012c47becbbad2ab175484c2a84d1185b566fb2cc5b8707343dfe58"
+checksum = "03e69e28e9f7f77debdedbaafa2866e1de9ba56df55a8bd7cfc724c25a09987c"
 dependencies = [
  "libc",
 ]
@@ -1007,7 +1076,7 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
 ]
 
 [[package]]
@@ -1016,7 +1085,7 @@ version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a33c2bf77f2df06183c3aa30d1e96c0695a313d4f9c453cc3762a6db39f99200"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "crossbeam-utils",
 ]
 
@@ -1026,31 +1095,31 @@ version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "crossbeam-epoch",
  "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.14"
+version = "0.9.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46bd5f3f85273295a9d14aedfb86f6aadbff6d8f5295c4a9edb08e819dcf5695"
+checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
 dependencies = [
  "autocfg",
- "cfg-if",
+ "cfg-if 1.0.0",
  "crossbeam-utils",
- "memoffset 0.8.0",
+ "memoffset 0.9.0",
  "scopeguard",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.15"
+version = "0.8.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c063cd8cc95f5c377ed0d4b49a4b21f632396ff690e8470c29b3359b346984b"
+checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
 ]
 
 [[package]]
@@ -1062,20 +1131,20 @@ dependencies = [
  "bitflags",
  "crossterm_winapi",
  "libc",
- "mio",
+ "mio 0.8.8",
  "parking_lot",
  "signal-hook",
  "signal-hook-mio",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
 name = "crossterm_winapi"
-version = "0.9.0"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2ae1b35a484aa10e07fe0638d02301c5ad24de82d310ccbd2f3693da5f09bf1c"
+checksum = "acdd7c62a3665c7f6830a51635d9ac9b23ed385797f70a83bb8bafe9c572ab2b"
 dependencies = [
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -1096,9 +1165,9 @@ dependencies = [
 
 [[package]]
 name = "csv"
-version = "1.2.1"
+version = "1.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b015497079b9a9d69c02ad25de6c0a6edef051ea6360a327d0bd05802ef64ad"
+checksum = "626ae34994d3d8d668f4269922248239db4ae42d538b14c398b74a52208e8086"
 dependencies = [
  "csv-core",
  "itoa",
@@ -1127,9 +1196,9 @@ dependencies = [
 
 [[package]]
 name = "ctrlc"
-version = "3.3.0"
+version = "3.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04d778600249295e82b6ab12e291ed9029407efee0cfb7baf67157edc65964df"
+checksum = "2a011bbe2c35ce9c1f143b7af6f94f29a167beb4cd1d29e6740ce836f723120e"
 dependencies = [
  "nix 0.26.2",
  "windows-sys 0.48.0",
@@ -1137,9 +1206,9 @@ dependencies = [
 
 [[package]]
 name = "cxx"
-version = "1.0.94"
+version = "1.0.97"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f61f1b6389c3fe1c316bf8a4dccc90a38208354b330925bce1f74a6c4756eb93"
+checksum = "e88abab2f5abbe4c56e8f1fb431b784d710b709888f35755a160e62e33fe38e8"
 dependencies = [
  "cc",
  "cxxbridge-flags",
@@ -1149,9 +1218,9 @@ dependencies = [
 
 [[package]]
 name = "cxx-build"
-version = "1.0.94"
+version = "1.0.97"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12cee708e8962df2aeb38f594aae5d827c022b6460ac71a7a3e2c3c2aae5a07b"
+checksum = "5c0c11acd0e63bae27dcd2afced407063312771212b7a823b4fd72d633be30fb"
 dependencies = [
  "cc",
  "codespan-reporting",
@@ -1159,24 +1228,24 @@ dependencies = [
  "proc-macro2",
  "quote",
  "scratch",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
 name = "cxxbridge-flags"
-version = "1.0.94"
+version = "1.0.97"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7944172ae7e4068c533afbb984114a56c46e9ccddda550499caa222902c7f7bb"
+checksum = "8d3816ed957c008ccd4728485511e3d9aaf7db419aa321e3d2c5a2f3411e36c8"
 
 [[package]]
 name = "cxxbridge-macro"
-version = "1.0.94"
+version = "1.0.97"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2345488264226bf682893e25de0769f3360aac9957980ec49361b083ddaa5bc5"
+checksum = "a26acccf6f445af85ea056362561a24ef56cdc15fcc685f03aec50b9c702cb6d"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -1185,7 +1254,7 @@ version = "4.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e77a43b28d0668df09411cb0bc9a8c2adc40f9a048afe863e05fd43251e8e39c"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "num_cpus",
 ]
 
@@ -1195,7 +1264,7 @@ version = "5.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "907076dfda823b0b36d2a1bb5f90c96660a5bbcd7729e10727f07858f22c4edc"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "hashbrown 0.12.3",
  "lock_api",
  "once_cell",
@@ -1251,7 +1320,7 @@ checksum = "1b1d1d91c932ef41c0f2663aa8b0ca0342d444d842c06914aa0a7e352d0bada6"
 dependencies = [
  "libc",
  "redox_users",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -1271,7 +1340,7 @@ name = "dora-cli"
 version = "0.2.4"
 dependencies = [
  "bat",
- "clap 4.3.0",
+ "clap 4.3.9",
  "communication-layer-request-reply",
  "ctrlc",
  "dora-core",
@@ -1283,7 +1352,7 @@ dependencies = [
  "notify",
  "serde",
  "serde_json",
- "serde_yaml 0.9.21",
+ "serde_yaml 0.9.22",
  "termcolor",
  "tracing",
  "uuid",
@@ -1324,7 +1393,7 @@ dependencies = [
  "once_cell",
  "serde",
  "serde-with-expand-env",
- "serde_yaml 0.9.21",
+ "serde_yaml 0.9.22",
  "tokio",
  "tracing",
  "uuid",
@@ -1372,7 +1441,7 @@ dependencies = [
 name = "dora-examples"
 version = "0.0.0"
 dependencies = [
- "clap 4.3.0",
+ "clap 4.3.9",
  "dora-coordinator",
  "dora-core",
  "dora-daemon",
@@ -1520,11 +1589,56 @@ dependencies = [
  "safer-ffi",
 ]
 
+[[package]]
+name = "dora-ros2-bridge"
+version = "0.1.0"
+source = "git+https://github.com/dora-rs/dora-ros2-bridge.git#d152ee3b03070165c10e0e28046bbe10407aca92"
+dependencies = [
+ "array-init",
+ "dora-ros2-bridge-msg-gen-macro",
+ "ros2-client",
+ "rustdds",
+ "serde",
+ "serde-big-array",
+ "widestring",
+]
+
+[[package]]
+name = "dora-ros2-bridge-msg-gen"
+version = "0.1.0"
+source = "git+https://github.com/dora-rs/dora-ros2-bridge.git#d152ee3b03070165c10e0e28046bbe10407aca92"
+dependencies = [
+ "anyhow",
+ "heck 0.3.3",
+ "nom",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "syn 1.0.109",
+ "thiserror",
+]
+
+[[package]]
+name = "dora-ros2-bridge-msg-gen-macro"
+version = "0.1.0"
+source = "git+https://github.com/dora-rs/dora-ros2-bridge.git#d152ee3b03070165c10e0e28046bbe10407aca92"
+dependencies = [
+ "anyhow",
+ "dora-ros2-bridge-msg-gen",
+ "heck 0.3.3",
+ "nom",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "syn 1.0.109",
+ "thiserror",
+]
+
 [[package]]
 name = "dora-runtime"
 version = "0.2.4"
 dependencies = [
- "clap 4.3.0",
+ "clap 4.3.9",
  "dora-core",
  "dora-download",
  "dora-metrics",
@@ -1656,7 +1770,28 @@ version = "0.8.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "071a31f4ee85403370b58aca746f01041ede6f0da2730960ad001edc2b71b394"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
+]
+
+[[package]]
+name = "enumflags2"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c041f5090df68b32bcd905365fd51769c8b9d553fe87fde0b683534f10c01bd2"
+dependencies = [
+ "enumflags2_derive",
+ "serde",
+]
+
+[[package]]
+name = "enumflags2_derive"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e9a1f9f7d83e59740248a6e14ecf93929ade55027844dfcea78beafccc15745"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -1672,6 +1807,12 @@ dependencies = [
  "termcolor",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88bffebc5d80432c9b140ee17875ff173a8ab62faad5b257da912bd2f6c1c0a1"
+
 [[package]]
 name = "errno"
 version = "0.3.1"
@@ -1753,7 +1894,7 @@ version = "0.2.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5cbc844cecaee9d4443931972e1289c8ff485cb4cc2767cb03ca139ed6885153"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
  "redox_syscall 0.2.16",
  "windows-sys 0.48.0",
@@ -1767,9 +1908,9 @@ checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
 
 [[package]]
 name = "flatbuffers"
-version = "23.1.21"
+version = "23.5.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77f5399c2c9c50ae9418e522842ad362f61ee48b346ac106807bd355a8a7c619"
+checksum = "4dac53e22462d78c16d64a1cd22371b54cc3fe94aa15e7886a2fa6e5d1ab8640"
 dependencies = [
  "bitflags",
  "rustc_version",
@@ -1782,7 +1923,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3b9429470923de8e8cbd4d2dc513535400b4b3fef0319fb5c4e1f520a7bef743"
 dependencies = [
  "crc32fast",
- "miniz_oxide",
+ "miniz_oxide 0.7.1",
 ]
 
 [[package]]
@@ -1806,9 +1947,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "form_urlencoded"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a9c384f161156f5260c24a097c56119f9be8c798586aecc13afbcbe7b7e26bf8"
+checksum = "a62bc1cf6f830c2ec14a513a9fb124d0a213a629668a4186f329db21fe045652"
 dependencies = [
  "percent-encoding",
 ]
@@ -1822,6 +1963,22 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "fuchsia-zircon"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2e9763c69ebaae630ba35f74888db465e49e259ba1bc0eda7d06f4a067615d82"
+dependencies = [
+ "bitflags",
+ "fuchsia-zircon-sys",
+]
+
+[[package]]
+name = "fuchsia-zircon-sys"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3dcaa9ae7725d12cdb85b3ad99a434db70b468c09ded17e012d86b5c1010f7a7"
+
 [[package]]
 name = "funty"
 version = "2.0.0"
@@ -1910,7 +2067,7 @@ checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -1955,14 +2112,14 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.9"
+version = "0.2.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c85e1d9ab2eadba7e5040d4e09cbd6d072b76a557ad64e797c2cb9d4da21d7e4"
+checksum = "be4136b2a15dd319360be1c07d9933517ccf0be8f16bf62a3bee4f0d618df427"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "js-sys",
  "libc",
- "wasi",
+ "wasi 0.11.0+wasi-snapshot-preview1",
  "wasm-bindgen",
 ]
 
@@ -1974,9 +2131,15 @@ checksum = "e77ac7b51b8e6313251737fcef4b1c01a2ea102bde68415b62c0ee9268fec357"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
+[[package]]
+name = "gimli"
+version = "0.27.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6c80984affa11d98d1b88b66ac8853f143217b399d3c74116778ff8fdb4ed2e"
+
 [[package]]
 name = "git-version"
 version = "0.3.5"
@@ -2062,9 +2225,9 @@ dependencies = [
 
 [[package]]
 name = "h2"
-version = "0.3.19"
+version = "0.3.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d357c7ae988e7d2182f7d7871d0b963962420b0678b0997ce7de72001aeab782"
+checksum = "97ec8491ebaf99c8eaa73058b045fe58073cd6be7f596ac993ced0b0a0c01049"
 dependencies = [
  "bytes",
  "fnv",
@@ -2072,7 +2235,7 @@ dependencies = [
  "futures-sink",
  "futures-util",
  "http",
- "indexmap",
+ "indexmap 1.9.3",
  "slab",
  "tokio",
  "tokio-util 0.7.8",
@@ -2081,10 +2244,11 @@ dependencies = [
 
 [[package]]
 name = "half"
-version = "2.2.1"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02b4af3693f1b705df946e9fe5631932443781d0aabb423b62fcd4d73f6d2fd0"
+checksum = "bc52e53916c08643f1b56ec082790d1e86a32e58dc5268f897f313fbae7b4872"
 dependencies = [
+ "cfg-if 1.0.0",
  "crunchy",
  "num-traits",
 ]
@@ -2101,6 +2265,12 @@ version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43a3c133739dddd0d2990f9a4bdf8eb4b21ef50e4851ca85ab661199821d510e"
 
+[[package]]
+name = "hashbrown"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2c6201b9ff9fd90a5a3bac2e56a830d0caa509576f0e503818ee82c181b3437a"
+
 [[package]]
 name = "heck"
 version = "0.3.3"
@@ -2206,9 +2376,9 @@ checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
 [[package]]
 name = "hyper"
-version = "0.14.26"
+version = "0.14.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab302d72a6f11a3b910431ff93aae7e773078c769f0a3ef15fb9ec692ed147d4"
+checksum = "ffb1cfd654a8219eaef89881fdb3bb3b1cdc5fa75ded05d6933b2b382e395468"
 dependencies = [
  "bytes",
  "futures-channel",
@@ -2221,7 +2391,7 @@ dependencies = [
  "httpdate",
  "itoa",
  "pin-project-lite",
- "socket2",
+ "socket2 0.4.9",
  "tokio",
  "tower-service",
  "tracing",
@@ -2242,9 +2412,9 @@ dependencies = [
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.56"
+version = "0.1.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0722cd7114b7de04316e7ea5456a0bbb20e4adb46fd27a3697adb812cff0f37c"
+checksum = "2fad5b825842d2b38bd206f3e81d6957625fd7f0a361e345c30e01a0ae2dd613"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
@@ -2265,14 +2435,24 @@ dependencies = [
 
 [[package]]
 name = "idna"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e14ddfc70884202db2244c223200c204c2bda1bc6e0998d11b5e024d657209e6"
+checksum = "7d20d6b07bfbc108882d88ed8e37d39636dcc260e15e30c45e6ba089610b917c"
 dependencies = [
  "unicode-bidi",
  "unicode-normalization",
 ]
 
+[[package]]
+name = "if-addrs"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2cfc4a06638d2fd0dda83b01126fefd38ef9f04f54d2fc717a938df68b83a68d"
+dependencies = [
+ "libc",
+ "windows-sys 0.45.0",
+]
+
 [[package]]
 name = "indenter"
 version = "0.3.3"
@@ -2289,6 +2469,16 @@ dependencies = [
  "hashbrown 0.12.3",
 ]
 
+[[package]]
+name = "indexmap"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d5477fe2230a79769d8dc68e0eabf5437907c0457a5614a9e8dddb67f65eb65d"
+dependencies = [
+ "equivalent",
+ "hashbrown 0.14.0",
+]
+
 [[package]]
 name = "indoc"
 version = "1.0.9"
@@ -2346,7 +2536,7 @@ version = "0.1.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7a5bbe824c507c5da5956355e86a746d82e0e1464f65d862cc5e71da70e94b2c"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
 ]
 
 [[package]]
@@ -2377,22 +2567,41 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "io-extras"
+version = "0.17.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fde93d48f0d9277f977a333eca8313695ddd5301dc96f7e02aeddcb0dd99096f"
+dependencies = [
+ "io-lifetimes",
+ "windows-sys 0.48.0",
+]
+
 [[package]]
 name = "io-lifetimes"
-version = "1.0.10"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c66c74d2ae7e79a5a8f7ac924adbe38ee42a859c6539ad869eb51f0b52dc220"
+checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
 dependencies = [
  "hermit-abi 0.3.1",
  "libc",
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "iovec"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2b3ea6ff95e175473f8ffe6a7eb7c00d054240321b84c57051175fe3c1e075e"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "ipnet"
-version = "2.7.2"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12b6ee2129af8d4fb011108c73d99a1b83a85977f23b82460c0ae2e25bb4b57f"
+checksum = "28b29a3cd74f0f4598934efe3aeba42bae0eb4680554128851ebbecb02af14e6"
 
 [[package]]
 name = "ipnetwork"
@@ -2437,7 +2646,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1a87aa2bb7d2af34197c04845522473242e1aa17c12f4935d5856491a7fb8c97"
 dependencies = [
  "cesu8",
- "cfg-if",
+ "cfg-if 1.0.0",
  "combine",
  "jni-sys",
  "log",
@@ -2463,9 +2672,9 @@ dependencies = [
 
 [[package]]
 name = "js-sys"
-version = "0.3.63"
+version = "0.3.64"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f37a4a5928311ac501dee68b3c7613a1037d0edb30c8e5427bd832d55d1b790"
+checksum = "c5f195fe497f702db0f318b07fdd68edb16955aed830df8363d837542f8f935a"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -2490,6 +2699,16 @@ dependencies = [
  "cpufeatures",
 ]
 
+[[package]]
+name = "kernel32-sys"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7507624b29483431c0ba2d82aece8ca6cdba9382bff4ddd0f7490560c056098d"
+dependencies = [
+ "winapi 0.2.8",
+ "winapi-build",
+]
+
 [[package]]
 name = "kqueue"
 version = "1.0.7"
@@ -2528,6 +2747,12 @@ dependencies = [
  "spin 0.5.2",
 ]
 
+[[package]]
+name = "lazycell"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
+
 [[package]]
 name = "lexical-core"
 version = "0.8.5"
@@ -2594,9 +2819,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.144"
+version = "0.2.147"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b00cc1c228a6782d0f076e7b232802e0c5689d41bb5df366f2a6b6621cfdfe1"
+checksum = "b4668fb0ea861c1df094127ac5f1da3409a82116a4ba74fca2e58ef927159bb3"
 
 [[package]]
 name = "libgit2-sys"
@@ -2616,8 +2841,8 @@ version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b67380fd3b2fbe7527a606e18729d21c6f3951633d0500574c4dc22d2d638b9f"
 dependencies = [
- "cfg-if",
- "winapi",
+ "cfg-if 1.0.0",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -2668,11 +2893,23 @@ version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ef53942eb7bf7ff43a617b3e2c1c4a5ecf5944a7c1bc12d7ee39bbb15e5c1519"
 
+[[package]]
+name = "local-ip-address"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2815836665de176ba66deaa449ada98fdf208d84730d1a84a22cbeed6151a6fa"
+dependencies = [
+ "libc",
+ "neli",
+ "thiserror",
+ "windows-sys 0.48.0",
+]
+
 [[package]]
 name = "lock_api"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
+checksum = "c1cc9717a20b1bb222f333e6a92fd32f7d8a18ddc5a3191a11af45dcbf4dcd16"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -2680,11 +2917,10 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.17"
+version = "0.4.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
+checksum = "b06a4cde4c0f271a446782e3eff8de789548ce57dbc8eca9292c27f4a42004b4"
 dependencies = [
- "cfg-if",
  "value-bag",
 ]
 
@@ -2722,6 +2958,12 @@ dependencies = [
  "regex-automata",
 ]
 
+[[package]]
+name = "md5"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "490cc448043f947bae3cbee9c203358d62dbee0db12107a74be5c30ccfd09771"
+
 [[package]]
 name = "memchr"
 version = "2.5.0"
@@ -2755,12 +2997,36 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "memoffset"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "mime"
 version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
 
+[[package]]
+name = "minimal-lexical"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
+
+[[package]]
+name = "miniz_oxide"
+version = "0.6.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b275950c28b37e794e8c55d88aeb5e139d0ce23fdbbeda68f8d7174abdf9e8fa"
+dependencies = [
+ "adler",
+]
+
 [[package]]
 name = "miniz_oxide"
 version = "0.7.1"
@@ -2772,14 +3038,57 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "0.8.6"
+version = "0.6.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b9d9a46eff5b4ff64b45a9e316a6d1e0bc719ef429cbec4dc630684212bfdf9"
+checksum = "4afd66f5b91bf2a3bc13fad0e21caedac168ca4c707504e75585648ae80e4cc4"
 dependencies = [
+ "cfg-if 0.1.10",
+ "fuchsia-zircon",
+ "fuchsia-zircon-sys",
+ "iovec",
+ "kernel32-sys",
  "libc",
  "log",
- "wasi",
- "windows-sys 0.45.0",
+ "miow",
+ "net2",
+ "slab",
+ "winapi 0.2.8",
+]
+
+[[package]]
+name = "mio"
+version = "0.8.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "927a765cd3fc26206e66b296465fa9d3e5ab003e651c1b3c060e7956d96b19d2"
+dependencies = [
+ "libc",
+ "log",
+ "wasi 0.11.0+wasi-snapshot-preview1",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "mio-extras"
+version = "2.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "52403fe290012ce777c4626790c8951324a2b9e3316b3143779c72b029742f19"
+dependencies = [
+ "lazycell",
+ "log",
+ "mio 0.6.23",
+ "slab",
+]
+
+[[package]]
+name = "miow"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ebd808424166322d4a38da87083bfddd3ac4c131334ed55856112eb06d46944d"
+dependencies = [
+ "kernel32-sys",
+ "net2",
+ "winapi 0.2.8",
+ "ws2_32-sys",
 ]
 
 [[package]]
@@ -2839,6 +3148,42 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "27b02d87554356db9e9a873add8782d4ea6e3e58ea071a9adb9a2e8ddb884a8b"
 
+[[package]]
+name = "neli"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1100229e06604150b3becd61a4965d5c70f3be1759544ea7274166f4be41ef43"
+dependencies = [
+ "byteorder",
+ "libc",
+ "log",
+ "neli-proc-macros",
+]
+
+[[package]]
+name = "neli-proc-macros"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c168194d373b1e134786274020dae7fc5513d565ea2ebb9bc9ff17ffb69106d4"
+dependencies = [
+ "either",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "net2"
+version = "0.2.39"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b13b648036a2339d06de780866fbdfda0dde886de7b3af2ddeba8b14f4ee34ac"
+dependencies = [
+ "cfg-if 0.1.10",
+ "libc",
+ "winapi 0.3.9",
+]
+
 [[package]]
 name = "newline-converter"
 version = "0.2.2"
@@ -2856,7 +3201,7 @@ checksum = "8f3790c00a0150112de0f4cd161e3d7fc4b2d8a5542ffc35f099a2562aecb35c"
 dependencies = [
  "bitflags",
  "cc",
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
  "memoffset 0.6.5",
 ]
@@ -2868,7 +3213,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfdda3d196821d6af13126e40375cdf7da646a96114af134d5f417a9a1dc8e1a"
 dependencies = [
  "bitflags",
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
  "memoffset 0.7.1",
  "pin-utils",
@@ -2881,6 +3226,16 @@ version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43794a0ace135be66a25d3ae77d41b91615fb68ae937f904090203e81f755b65"
 
+[[package]]
+name = "nom"
+version = "7.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
+dependencies = [
+ "memchr",
+ "minimal-lexical",
+]
+
 [[package]]
 name = "notify"
 version = "5.2.0"
@@ -2894,7 +3249,7 @@ dependencies = [
  "inotify",
  "kqueue",
  "libc",
- "mio",
+ "mio 0.8.8",
  "walkdir",
  "windows-sys 0.45.0",
 ]
@@ -2905,7 +3260,7 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e8a3895c6391c39d7fe7ebc444a87eb2991b2a0bc718fdabd071eec617fc68e4"
 dependencies = [
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -2915,7 +3270,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
 dependencies = [
  "overload",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -2954,9 +3309,9 @@ dependencies = [
 
 [[package]]
 name = "num-bigint-dig"
-version = "0.8.2"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2399c9463abc5f909349d8aa9ba080e0b88b3ce2885389b60b993f39b1a56905"
+checksum = "53ba502077159ace3aa56c25449a007173a406607a94ef665247246191eb38b1"
 dependencies = [
  "byteorder",
  "lazy_static",
@@ -2978,6 +3333,17 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "num-derive"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "num-integer"
 version = "0.1.45"
@@ -3040,11 +3406,20 @@ dependencies = [
  "malloc_buf",
 ]
 
+[[package]]
+name = "object"
+version = "0.30.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03b4680b86d9cfafba8fc491dc9b6df26b68cf40e9e6cd73909194759a63c385"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "once_cell"
-version = "1.17.1"
+version = "1.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b7e5500299e16ebb147ae15a00a942af264cf3688f47923b8fc2cd5858f23ad3"
+checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
 
 [[package]]
 name = "onig"
@@ -3157,7 +3532,7 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d425a3381784debcefe6c609c031b8f99ff1e56cb11ee783016970999f30c565"
 dependencies = [
- "indexmap",
+ "indexmap 1.9.3",
  "opentelemetry 0.17.0",
  "sysinfo",
 ]
@@ -3171,7 +3546,7 @@ dependencies = [
  "fnv",
  "futures-channel",
  "futures-util",
- "indexmap",
+ "indexmap 1.9.3",
  "js-sys",
  "once_cell",
  "pin-project-lite",
@@ -3226,9 +3601,9 @@ dependencies = [
 
 [[package]]
 name = "os_str_bytes"
-version = "6.5.0"
+version = "6.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ceedf44fb00f2d1984b0bc98102627ce622e083e49a5bacdb3e514fa4238e267"
+checksum = "4d5d9eb14b174ee9aa2ef96dc2b94637a2d4b6e7cb873c7e171f0c20c6cf3eac"
 
 [[package]]
 name = "overload"
@@ -3254,15 +3629,15 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.7"
+version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9069cbb9f99e3a5083476ccb29ceb1de18b9118cafa53e90c9551235de2b9521"
+checksum = "93f00c865fe7cabf650081affecd3871070f26767e7b2070a3ffae14c654b447"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
- "redox_syscall 0.2.16",
+ "redox_syscall 0.3.5",
  "smallvec",
- "windows-sys 0.45.0",
+ "windows-targets 0.48.0",
 ]
 
 [[package]]
@@ -3291,15 +3666,15 @@ dependencies = [
 
 [[package]]
 name = "percent-encoding"
-version = "2.2.0"
+version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "478c572c3d73181ff3c2539045f6eb99e5491218eae919370993b890cdbdd98e"
+checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
 
 [[package]]
 name = "pest"
-version = "2.6.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e68e84bfb01f0507134eac1e9b410a12ba379d064eab48c50ba4ce329a527b70"
+checksum = "f73935e4d55e2abf7f130186537b19e7a4abc886a0252380b59248af473a3fc9"
 dependencies = [
  "thiserror",
  "ucd-trie",
@@ -3307,9 +3682,9 @@ dependencies = [
 
 [[package]]
 name = "pest_derive"
-version = "2.6.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b79d4c71c865a25a4322296122e3924d30bc8ee0834c8bfc8b95f7f054afbfb"
+checksum = "aef623c9bbfa0eedf5a0efba11a5ee83209c326653ca31ff019bec3a95bfff2b"
 dependencies = [
  "pest",
  "pest_generator",
@@ -3317,22 +3692,22 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.6.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c435bf1076437b851ebc8edc3a18442796b30f1728ffea6262d59bbe28b077e"
+checksum = "b3e8cba4ec22bada7fc55ffe51e2deb6a0e0db2d0b7ab0b103acc80d2510c190"
 dependencies = [
  "pest",
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
 name = "pest_meta"
-version = "2.6.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "745a452f8eb71e39ffd8ee32b3c5f51d03845f99786fa9b68db6ff509c505411"
+checksum = "a01f71cb40bd8bb94232df14b946909e14660e33fc05db3e50ae2a82d7ea0ca0"
 dependencies = [
  "once_cell",
  "pest",
@@ -3346,7 +3721,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4dd7d28ee937e54fe3080c91faa1c3a46c06de6252988a7f4592ba2310ef22a4"
 dependencies = [
  "fixedbitset",
- "indexmap",
+ "indexmap 1.9.3",
 ]
 
 [[package]]
@@ -3366,7 +3741,7 @@ checksum = "39407670928234ebc5e6e580247dd567ad73a3578460c5990f9503df207e8f07"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -3415,12 +3790,12 @@ version = "1.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9bd9647b268a3d3e14ff09c23201133a62589c658db02bb7388c7246aafe0590"
 dependencies = [
- "base64 0.21.1",
- "indexmap",
+ "base64 0.21.2",
+ "indexmap 1.9.3",
  "line-wrap",
  "quick-xml",
  "serde",
- "time",
+ "time 0.3.22",
 ]
 
 [[package]]
@@ -3454,7 +3829,7 @@ dependencies = [
  "libc",
  "pnet_base",
  "pnet_sys",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -3497,7 +3872,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "328e231f0add6d247d82421bf3790b4b33b39c8930637f428eef24c4c6a90805"
 dependencies = [
  "libc",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -3520,7 +3895,7 @@ checksum = "4b2d323e8ca7996b3e23126511a523f7e62924d93ecd5ae73b333815b0eb3dce"
 dependencies = [
  "autocfg",
  "bitflags",
- "cfg-if",
+ "cfg-if 1.0.0",
  "concurrent-queue",
  "libc",
  "log",
@@ -3576,9 +3951,9 @@ checksum = "dc375e1527247fe1a97d8b7156678dfe7c1af2fc075c9a4db3690ecd2a148068"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.58"
+version = "1.0.63"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa1fb82fc0c281dd9671101b66b771ebbe1eaf967b96ac8740dcba4b70005ca8"
+checksum = "7b368fba921b0dce7e60f5e04ec15e565b3303972b42bcfde1d0713b881959eb"
 dependencies = [
  "unicode-ident",
 ]
@@ -3642,7 +4017,7 @@ version = "0.18.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e3b1ac5b3731ba34fdaa9785f8d74d17448cd18f30cf19e0c7e7b1fdb5272109"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "eyre",
  "indoc",
  "libc",
@@ -3761,16 +4136,16 @@ checksum = "641538578b21f5e5c8ea733b736895576d0fe329bb883b937db6f4d163dbaaf4"
 dependencies = [
  "libc",
  "quinn-proto",
- "socket2",
+ "socket2 0.4.9",
  "tracing",
  "windows-sys 0.42.0",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.27"
+version = "1.0.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f4f29d145265ec1c483c7c654450edde0bfe043d3938d6972630663356d9500"
+checksum = "1b9ab9c7eadfd8df19006f1cf1a4aed13540ed5cbc047010ece5826e10825488"
 dependencies = [
  "proc-macro2",
 ]
@@ -3823,11 +4198,11 @@ version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f067b45fa17e31d15636789c2638bd562da5496d498876cf0495df78f7e4fdcb"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
  "nix 0.23.2",
  "rand",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -3883,13 +4258,13 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.8.1"
+version = "1.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af83e617f331cc6ae2da5443c602dfa5af81e517212d9d611a5b3ba1777b5370"
+checksum = "d0ab3ca65655bb1e41f2a8c8cd662eb4fb035e67c3f78da1d61dffe89d07300f"
 dependencies = [
- "aho-corasick 1.0.1",
+ "aho-corasick 1.0.2",
  "memchr",
- "regex-syntax 0.7.1",
+ "regex-syntax 0.7.2",
 ]
 
 [[package]]
@@ -3909,9 +4284,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.7.1"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a5996294f19bd3aae0453a862ad728f60e6600695733dd5df01da90c54363a3c"
+checksum = "436b050e76ed2903236f032a59761c1eb99e1b0aead2c257922771dab1fc8c78"
 
 [[package]]
 name = "reqwest"
@@ -3919,7 +4294,7 @@ version = "0.11.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cde824a14b7c14f85caff81225f411faacc04a2013f41670f41443742b1c1c55"
 dependencies = [
- "base64 0.21.1",
+ "base64 0.21.2",
  "bytes",
  "encoding_rs",
  "futures-core",
@@ -3935,7 +4310,7 @@ dependencies = [
  "once_cell",
  "percent-encoding",
  "pin-project-lite",
- "rustls 0.21.1",
+ "rustls 0.21.2",
  "serde",
  "serde_json",
  "serde_urlencoded",
@@ -3969,7 +4344,7 @@ dependencies = [
  "spin 0.5.2",
  "untrusted",
  "web-sys",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -3982,6 +4357,26 @@ dependencies = [
  "cache-padded",
 ]
 
+[[package]]
+name = "ros2-client"
+version = "0.5.2"
+source = "git+https://github.com/dora-rs/ros2-client.git?branch=deserialize-seed#2f4f3ce1635745634b9948541acd0c76aff2aa92"
+dependencies = [
+ "bytes",
+ "cdr-encoding-size",
+ "chrono",
+ "futures",
+ "lazy_static",
+ "log",
+ "mio 0.6.23",
+ "mio-extras",
+ "pin-utils",
+ "rustdds",
+ "serde",
+ "serde_repr",
+ "uuid",
+]
+
 [[package]]
 name = "rsa"
 version = "0.7.2"
@@ -4029,6 +4424,25 @@ dependencies = [
  "eyre",
 ]
 
+[[package]]
+name = "rust-ros2-dataflow-example-node"
+version = "0.2.4"
+dependencies = [
+ "dora-node-api",
+ "dora-ros2-bridge",
+ "eyre",
+ "futures",
+ "rand",
+ "serde_json",
+ "tokio",
+]
+
+[[package]]
+name = "rustc-demangle"
+version = "0.1.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d626bb9dae77e28219937af045c257c28bfd3f69333c512553507f5f9798cb76"
+
 [[package]]
 name = "rustc-hash"
 version = "1.1.0"
@@ -4044,11 +4458,43 @@ dependencies = [
  "semver",
 ]
 
+[[package]]
+name = "rustdds"
+version = "0.8.4"
+source = "git+https://github.com/dora-rs/RustDDS.git?branch=deserialize-seed#fb84f406575884d0058f853e79c7cacd4c01eb17"
+dependencies = [
+ "bit-vec",
+ "byteorder",
+ "bytes",
+ "cdr-encoding-size",
+ "chrono",
+ "enumflags2",
+ "futures",
+ "if-addrs",
+ "local-ip-address",
+ "log",
+ "md5",
+ "mio 0.6.23",
+ "mio 0.8.8",
+ "mio-extras",
+ "num-derive",
+ "num-traits",
+ "paste",
+ "rand",
+ "serde",
+ "serde_repr",
+ "socket2 0.5.3",
+ "socketpair",
+ "speedy",
+ "static_assertions",
+ "thiserror",
+]
+
 [[package]]
 name = "rustix"
-version = "0.37.19"
+version = "0.37.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acf8729d8542766f1b2cf77eb034d52f40d375bb8b615d0b147089946e16613d"
+checksum = "b96e891d04aa506a6d1f318d2771bcb1c7dfda84e126660ace067c9b474bb2c0"
 dependencies = [
  "bitflags",
  "errno",
@@ -4072,9 +4518,9 @@ dependencies = [
 
 [[package]]
 name = "rustls"
-version = "0.21.1"
+version = "0.21.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c911ba11bc8433e811ce56fde130ccf32f5127cab0e0194e9c68c5a5b671791e"
+checksum = "e32ca28af694bc1bbf399c33a516dbdf1c90090b8ab23c2bc24f834aa2247f5f"
 dependencies = [
  "log",
  "ring",
@@ -4084,9 +4530,9 @@ dependencies = [
 
 [[package]]
 name = "rustls-native-certs"
-version = "0.6.2"
+version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0167bac7a9f490495f3c33013e7722b53cb087ecbe082fb0c6387c96f634ea50"
+checksum = "a9aace74cb666635c918e9c12bc0d348266037aa8eb599b5cba565709a8dff00"
 dependencies = [
  "openssl-probe",
  "rustls-pemfile",
@@ -4100,7 +4546,7 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d194b56d58803a43635bdc398cd17e383d6f71f9182b9a192c127ca42494a59b"
 dependencies = [
- "base64 0.21.1",
+ "base64 0.21.2",
 ]
 
 [[package]]
@@ -4127,9 +4573,9 @@ checksum = "ef703b7cb59335eae2eb93ceb664c0eb7ea6bf567079d843e09420219668e072"
 
 [[package]]
 name = "safer-ffi"
-version = "0.1.0-rc1"
+version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7270b08a2af50909969cfc28a239cfdda9ab1b3df74749b265c46956183e5bf7"
+checksum = "62fd645a8c0b4a71f0883dce1bc48e358fcc02b99c83613f62ede5660b3572c1"
 dependencies = [
  "inventory",
  "libc",
@@ -4144,9 +4590,9 @@ dependencies = [
 
 [[package]]
 name = "safer_ffi-proc_macros"
-version = "0.1.0-rc1"
+version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1438fb328c52f5148ea02a317603efd802f2cd6eb9e721adfd51b94bb55d9ddb"
+checksum = "d39be56c8f7e5878594154dd0d2c03e2b12c66fa5a5ba3fe302412bd89bad774"
 dependencies = [
  "macro_rules_attribute",
  "prettyplease",
@@ -4226,13 +4672,22 @@ checksum = "bebd363326d05ec3e2f532ab7660680f3b02130d780c299bca73469d521bc0ed"
 
 [[package]]
 name = "serde"
-version = "1.0.163"
+version = "1.0.164"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2113ab51b87a539ae008b5c6c02dc020ffa39afd2d83cffcb3f4eb2722cebec2"
+checksum = "9e8c8cf938e98f769bc164923b06dce91cea1751522f46f8466461af04c9027d"
 dependencies = [
  "serde_derive",
 ]
 
+[[package]]
+name = "serde-big-array"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11fc7cc2c76d73e0f27ee52abbd64eec84d46f370c88371120433196934e4b7f"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "serde-with-expand-env"
 version = "1.1.0"
@@ -4245,26 +4700,37 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.163"
+version = "1.0.164"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c805777e3930c8883389c602315a24224bcc738b63905ef87cd1420353ea93e"
+checksum = "d9735b638ccc51c28bf6914d90a2e9725b377144fc612c49a611fddd1b631d68"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.96"
+version = "1.0.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "057d394a50403bcac12672b2b18fb387ab6d289d957dab67dd201875391e52f1"
+checksum = "46266871c240a00b8f503b877622fe33430b3c7d963bdc0f2adc511e54a1eae3"
 dependencies = [
  "itoa",
  "ryu",
  "serde",
 ]
 
+[[package]]
+name = "serde_repr"
+version = "0.1.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bcec881020c684085e55a25f7fd888954d56609ef363479dc5a1305eb0d40cab"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.22",
+]
+
 [[package]]
 name = "serde_urlencoded"
 version = "0.7.1"
@@ -4283,7 +4749,7 @@ version = "0.8.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "578a7433b776b56a35785ed5ce9a7e777ac0598aac5a6dd1b4b18a307c7fc71b"
 dependencies = [
- "indexmap",
+ "indexmap 1.9.3",
  "ryu",
  "serde",
  "yaml-rust",
@@ -4291,11 +4757,11 @@ dependencies = [
 
 [[package]]
 name = "serde_yaml"
-version = "0.9.21"
+version = "0.9.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9d684e3ec7de3bf5466b32bd75303ac16f0736426e5a4e0d6e489559ce1249c"
+checksum = "452e67b9c20c37fa79df53201dc03839651086ed9bbe92b3ca585ca9fdaa7d85"
 dependencies = [
- "indexmap",
+ "indexmap 2.0.0",
  "itoa",
  "ryu",
  "serde",
@@ -4304,11 +4770,11 @@ dependencies = [
 
 [[package]]
 name = "sha2"
-version = "0.10.6"
+version = "0.10.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "82e6b795fe2e3b1e845bafcb27aa35405c4d47cdfc92af5fc8d3002f76cebdc0"
+checksum = "479fb9d862239e610720565ca91403019f2f00410f1864c5aa7479b950a76ed8"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "cpufeatures",
  "digest",
 ]
@@ -4350,7 +4816,7 @@ version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "004d7ece9a3be64f85471d50967710b0a146144225bed5f0abd0514a3bed086f"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "libc",
  "nix 0.26.2",
  "rand",
@@ -4404,7 +4870,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "29ad2e15f37ec9a6cc544097b78a1ec90001e9f71b81338ca39f430adaca99af"
 dependencies = [
  "libc",
- "mio",
+ "mio 0.8.8",
  "signal-hook",
 ]
 
@@ -4449,7 +4915,51 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "64a4a911eed85daf18834cfaa86a79b7d266ff93ff5ba14005426219480ed662"
 dependencies = [
  "libc",
- "winapi",
+ "winapi 0.3.9",
+]
+
+[[package]]
+name = "socket2"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2538b18701741680e0322a2302176d3253a35388e2e62f172f64f4f16605f877"
+dependencies = [
+ "libc",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "socketpair"
+version = "0.19.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "365cc8b798dfcc4f5518e75655521d47f089ded0ef7df335c637e30b6cc717de"
+dependencies = [
+ "io-extras",
+ "io-lifetimes",
+ "rustix",
+ "uuid",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "speedy"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7642861d1a1569b105c57008df95fb12ba648f7f90358f46e99bdfbf26729b84"
+dependencies = [
+ "memoffset 0.8.0",
+ "speedy-derive",
+]
+
+[[package]]
+name = "speedy-derive"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7d395866cb6778625150f77a430cc0af764ce0300f6a3d3413477785fa34b6c7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -4496,7 +5006,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "af91f480ee899ab2d9f8435bfdfc14d08a5754bd9d3fef1f1a1c23336aad6c8b"
 dependencies = [
  "async-channel",
- "cfg-if",
+ "cfg-if 1.0.0",
  "futures-core",
  "pin-project-lite",
 ]
@@ -4526,9 +5036,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.16"
+version = "2.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6f671d4b5ffdb8eadec19c0ae67fe2639df8684bd7bc4b83d986b8db549cf01"
+checksum = "2efbeae7acf4eabd6bcdcbd11c92f45231ddda7539edc7806bd1a04a03b24616"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4574,13 +5084,13 @@ version = "0.26.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5c18a6156d1f27a9592ee18c1a846ca8dd5c258b7179fc193ae87c74ebb666f5"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "core-foundation-sys",
  "libc",
  "ntapi",
  "once_cell",
  "rayon",
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -4591,21 +5101,22 @@ checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369"
 
 [[package]]
 name = "target-lexicon"
-version = "0.12.7"
+version = "0.12.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd1ba337640d60c3e96bc6f0638a939b9c9a7f2c316a1598c279828b3d1dc8c5"
+checksum = "1b1c7f239eb94671427157bd93b3694320f3668d4e1eff08c7285366fd777fac"
 
 [[package]]
 name = "tempfile"
-version = "3.5.0"
+version = "3.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9fbec84f381d5795b08656e4912bec604d162bff9291d6189a78f4c8ab87998"
+checksum = "31c0432476357e58790aaa47a8efb0c5138f137343f3b5f23bd36a27e3b0a6d6"
 dependencies = [
- "cfg-if",
+ "autocfg",
+ "cfg-if 1.0.0",
  "fastrand",
  "redox_syscall 0.3.5",
  "rustix",
- "windows-sys 0.45.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -4650,7 +5161,7 @@ checksum = "f9456a42c5b0d803c8cd86e73dd7cc9edd429499f37a3550d286d5e86720569f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -4659,7 +5170,7 @@ version = "1.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3fdd6f064ccff2d6567adcb3873ca630700f00b5ad3f060c25b5dcfd9a4ce152"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "once_cell",
 ]
 
@@ -4687,9 +5198,20 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.21"
+version = "0.1.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b797afad3f312d1c66a56d11d0316f916356d11bd158fbc6ca6389ff6bf805a"
+dependencies = [
+ "libc",
+ "wasi 0.10.0+wasi-snapshot-preview1",
+ "winapi 0.3.9",
+]
+
+[[package]]
+name = "time"
+version = "0.3.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f3403384eaacbca9923fa06940178ac13e4edb725486d70e8e15881d0c836cc"
+checksum = "ea9e1b3cf1243ae005d9e74085d4d542f3125458f3a81af210d901dcd7411efd"
 dependencies = [
  "itoa",
  "serde",
@@ -4738,19 +5260,20 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tokio"
-version = "1.28.1"
+version = "1.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0aa32867d44e6f2ce3385e89dceb990188b8bb0fb25b0cf576647a6f98ac5105"
+checksum = "374442f06ee49c3a28a8fc9f01a2596fed7559c6b99b31279c3261778e77d84f"
 dependencies = [
  "autocfg",
+ "backtrace",
  "bytes",
  "libc",
- "mio",
+ "mio 0.8.8",
  "num_cpus",
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
- "socket2",
+ "socket2 0.4.9",
  "tokio-macros",
  "windows-sys 0.48.0",
 ]
@@ -4773,7 +5296,7 @@ checksum = "630bdcf245f78637c13ec01ffae6187cca34625e8c63150d424b59e55af2675e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -4866,7 +5389,7 @@ checksum = "b8fa9be0de6cf49e536ce1851f987bd21a43b771b09473c3549a6c853db37c1c"
 dependencies = [
  "futures-core",
  "futures-util",
- "indexmap",
+ "indexmap 1.9.3",
  "pin-project",
  "pin-project-lite",
  "rand",
@@ -4896,7 +5419,7 @@ version = "0.1.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ce8c33a8d48bd45d624a6e523445fd21ec13d3653cd51f681abf67418f54eb8"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "log",
  "pin-project-lite",
  "tracing-attributes",
@@ -4905,13 +5428,13 @@ dependencies = [
 
 [[package]]
 name = "tracing-attributes"
-version = "0.1.24"
+version = "0.1.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f57e3ca2a01450b1a921183a9c9cbfda207fd822cef4ccb00a65402cbba7a74"
+checksum = "5f4f31f56159e98206da9efd823404b79b6ef3143b4a7ab76e67b1751b25a4ab"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -5018,9 +5541,9 @@ checksum = "92888ba5573ff080736b3648696b70cafad7d250551175acbaa4e0385b3e1460"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.8"
+version = "1.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5464a87b239f13a63a501f2701565754bae92d243d4bb7eb12f6d57d2269bf4"
+checksum = "b15811caf2415fb889178633e7724bad2509101cde276048e013b9def5e51fa0"
 
 [[package]]
 name = "unicode-normalization"
@@ -5089,9 +5612,9 @@ dependencies = [
 
 [[package]]
 name = "url"
-version = "2.3.1"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d68c799ae75762b8c3fe375feb6600ef5602c883c5d21eb51c09f22b83c4643"
+checksum = "50bff7831e19200a85b17131d085c25d7811bc4e186efdaf54bbd132994a88cb"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -5106,12 +5629,25 @@ checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
 
 [[package]]
 name = "uuid"
-version = "1.3.3"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "345444e32442451b267fc254ae85a209c64be56d2890e601a0c37ff0c3c5ecd2"
+checksum = "d023da39d1fde5a8a3fe1f3e01ca9632ada0a63e9797de55a879d6e2236277be"
 dependencies = [
  "getrandom",
+ "rand",
  "serde",
+ "uuid-macro-internal",
+]
+
+[[package]]
+name = "uuid-macro-internal"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8614dda80b9075fbca36bc31b58d1447715b1236af98dee21db521c47a0cc2c0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.22",
 ]
 
 [[package]]
@@ -5146,13 +5682,9 @@ checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
 
 [[package]]
 name = "value-bag"
-version = "1.0.0-alpha.9"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2209b78d1249f7e6f3293657c9779fe31ced465df091bbd433a1cf88e916ec55"
-dependencies = [
- "ctor",
- "version_check",
-]
+checksum = "d92ccd67fb88503048c01b59152a04effd0782d035a83a6d256ce6085f08f4a3"
 
 [[package]]
 name = "vcpkg"
@@ -5190,14 +5722,19 @@ dependencies = [
 
 [[package]]
 name = "want"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ce8a968cb1cd110d136ff8b819a556d6fb6d919363c61534f6860c7eb172ba0"
+checksum = "bfa7760aed19e106de2c7c0b581b509f2f25d3dacaf737cb82ac61bc6d760b0e"
 dependencies = [
- "log",
  "try-lock",
 ]
 
+[[package]]
+name = "wasi"
+version = "0.10.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a143597ca7c7793eff794def352d41792a93c481eb1042423ff7ff72ba2c31f"
+
 [[package]]
 name = "wasi"
 version = "0.11.0+wasi-snapshot-preview1"
@@ -5206,36 +5743,36 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.86"
+version = "0.2.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5bba0e8cb82ba49ff4e229459ff22a191bbe9a1cb3a341610c9c33efc27ddf73"
+checksum = "7706a72ab36d8cb1f80ffbf0e071533974a60d0a308d01a5d0375bf60499a342"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "wasm-bindgen-macro",
 ]
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.86"
+version = "0.2.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b04bc93f9d6bdee709f6bd2118f57dd6679cf1176a1af464fca3ab0d66d8fb"
+checksum = "5ef2b6d3c510e9625e5fe6f509ab07d66a760f0885d858736483c32ed7809abd"
 dependencies = [
  "bumpalo",
  "log",
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.36"
+version = "0.4.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d1985d03709c53167ce907ff394f5316aa22cb4e12761295c5dc57dacb6297e"
+checksum = "c02dbc21516f9f1f04f187958890d7e6026df8d16540b7ad9492bc34a67cea03"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "js-sys",
  "wasm-bindgen",
  "web-sys",
@@ -5243,9 +5780,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.86"
+version = "0.2.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14d6b024f1a526bb0234f52840389927257beb670610081360e5a03c5df9c258"
+checksum = "dee495e55982a3bd48105a7b947fd2a9b4a8ae3010041b9e0faab3f9cd028f1d"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -5253,28 +5790,28 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.86"
+version = "0.2.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e128beba882dd1eb6200e1dc92ae6c5dbaa4311aa7bb211ca035779e5efc39f8"
+checksum = "54681b18a46765f095758388f2d0cf16eb8d4169b639ab575a8f5693af210c7b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.22",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.86"
+version = "0.2.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed9d5b4305409d1fc9482fee2d7f9bcbf24b3972bf59817ef757e23982242a93"
+checksum = "ca6ad05a4870b2bf5fe995117d3728437bd27d7cd5f06f13c17443ef369775a1"
 
 [[package]]
 name = "web-sys"
-version = "0.3.63"
+version = "0.3.64"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3bdd9ef4e984da1187bf8110c5cf5b845fbc87a23602cdf912386a76fcd3a7c2"
+checksum = "9b85cbef8c220a6abc02aefd892dfc0fc23afb1c6a426316ec33253a3877249b"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -5327,6 +5864,12 @@ dependencies = [
  "once_cell",
 ]
 
+[[package]]
+name = "widestring"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "653f141f39ec16bba3c5abe400a0c60da7468261cc2cbf36805022876bc721a8"
+
 [[package]]
 name = "wild"
 version = "2.1.0"
@@ -5345,6 +5888,12 @@ dependencies = [
  "windows 0.34.0",
 ]
 
+[[package]]
+name = "winapi"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -5355,6 +5904,12 @@ dependencies = [
  "winapi-x86_64-pc-windows-gnu",
 ]
 
+[[package]]
+name = "winapi-build"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
+
 [[package]]
 name = "winapi-i686-pc-windows-gnu"
 version = "0.4.0"
@@ -5367,7 +5922,7 @@ version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
 dependencies = [
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -5581,7 +6136,7 @@ version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "80d0f4e272c85def139476380b12f9ac60926689dd2e01d4923222f40580869d"
 dependencies = [
- "winapi",
+ "winapi 0.3.9",
 ]
 
 [[package]]
@@ -5604,6 +6159,16 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "ws2_32-sys"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d59cefebd0c892fa2dd6de581e937301d8552cb44489cdff035c6187cb63fa5e"
+dependencies = [
+ "winapi 0.2.8",
+ "winapi-build",
+]
+
 [[package]]
 name = "wyz"
 version = "0.5.1"
@@ -5648,7 +6213,7 @@ dependencies = [
  "rustc_version",
  "serde",
  "serde_json",
- "socket2",
+ "socket2 0.4.9",
  "stop-token",
  "uhlc",
  "uuid",
@@ -5715,7 +6280,7 @@ dependencies = [
  "num_cpus",
  "serde",
  "serde_json",
- "serde_yaml 0.9.21",
+ "serde_yaml 0.9.22",
  "validated_struct",
  "zenoh-cfg-properties",
  "zenoh-core",
@@ -5858,7 +6423,7 @@ dependencies = [
  "async-std",
  "async-trait",
  "log",
- "socket2",
+ "socket2 0.4.9",
  "zenoh-collections",
  "zenoh-core",
  "zenoh-link-commons",
@@ -6010,7 +6575,7 @@ dependencies = [
  "pnet",
  "pnet_datalink",
  "shellexpand 3.1.0",
- "winapi",
+ "winapi 0.3.9",
  "zenoh-cfg-properties",
  "zenoh-collections",
  "zenoh-core",
diff --git a/Cargo.toml b/Cargo.toml
index 00819b77..a825aa76 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,6 +12,7 @@ members = [
     "binaries/daemon",
     "binaries/runtime",
     "examples/rust-dataflow/*",
+    "examples/rust-ros2-dataflow/*",
     "examples/benchmark/*",
     "examples/multiple-daemons/*",
     "libraries/communication-layer/*",
@@ -56,6 +57,10 @@ edition = "2021"
 license = "Apache-2.0"
 
 
+[features]
+# enables examples that depend on a sourced ROS2 installation
+ros2-examples = []
+
 [dev-dependencies]
 eyre = "0.6.8"
 tokio = "1.24.2"
@@ -79,6 +84,11 @@ path = "examples/c-dataflow/run.rs"
 name = "rust-dataflow"
 path = "examples/rust-dataflow/run.rs"
 
+[[example]]
+name = "rust-ros2-dataflow"
+path = "examples/rust-ros2-dataflow/run.rs"
+required-features = ["ros2-examples"]
+
 [[example]]
 name = "rust-dataflow-url"
 path = "examples/rust-dataflow-url/run.rs"
diff --git a/examples/rust-ros2-dataflow/dataflow.yml b/examples/rust-ros2-dataflow/dataflow.yml
new file mode 100644
index 00000000..23175b3a
--- /dev/null
+++ b/examples/rust-ros2-dataflow/dataflow.yml
@@ -0,0 +1,9 @@
+nodes:
+  - id: rust-node
+    custom:
+      build: cargo build -p rust-ros2-dataflow-example-node
+      source: ../../target/debug/rust-ros2-dataflow-example-node
+      inputs:
+        tick: dora/timer/millis/500
+      outputs:
+        - pose
diff --git a/examples/rust-ros2-dataflow/node/Cargo.toml b/examples/rust-ros2-dataflow/node/Cargo.toml
new file mode 100644
index 00000000..e0db3521
--- /dev/null
+++ b/examples/rust-ros2-dataflow/node/Cargo.toml
@@ -0,0 +1,15 @@
+[package]
+name = "rust-ros2-dataflow-example-node"
+version.workspace = true
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+dora-node-api = { workspace = true, features = ["tracing"] }
+eyre = "0.6.8"
+futures = "0.3.21"
+rand = "0.8.5"
+tokio = { version = "1.24.2", features = ["rt", "macros"] }
+dora-ros2-bridge = { git = "https://github.com/dora-rs/dora-ros2-bridge.git" }
+serde_json = "1.0.99"
diff --git a/examples/rust-ros2-dataflow/node/src/main.rs b/examples/rust-ros2-dataflow/node/src/main.rs
new file mode 100644
index 00000000..313cc47d
--- /dev/null
+++ b/examples/rust-ros2-dataflow/node/src/main.rs
@@ -0,0 +1,134 @@
+use dora_node_api::{
+    self,
+    dora_core::config::DataId,
+    merged::{MergeExternal, MergedEvent},
+    DoraNode, Event,
+};
+use dora_ros2_bridge::{
+    geometry_msgs::msg::{Twist, Vector3},
+    ros2_client::{self, ros2, NodeOptions},
+    rustdds::{self, policy},
+    turtlesim::msg::Pose,
+};
+use eyre::Context;
+
+fn main() -> eyre::Result<()> {
+    let mut ros_node = init_ros_node()?;
+    let turtle_vel_publisher = create_vel_publisher(&mut ros_node)?;
+    let turtle_pose_reader = create_pose_reader(&mut ros_node)?;
+
+    let output = DataId::from("pose".to_owned());
+
+    let (mut node, dora_events) = DoraNode::init_from_env()?;
+
+    let merged = dora_events.merge_external(Box::pin(turtle_pose_reader.async_stream()));
+    let mut events = futures::executor::block_on_stream(merged);
+
+    for i in 0..1000 {
+        let event = match events.next() {
+            Some(input) => input,
+            None => break,
+        };
+
+        match event {
+            MergedEvent::Dora(event) => match event {
+                Event::Input {
+                    id,
+                    metadata: _,
+                    data: _,
+                } => match id.as_str() {
+                    "tick" => {
+                        let direction = Twist {
+                            linear: Vector3 {
+                                x: rand::random::<f64>() + 1.0,
+                                ..Default::default()
+                            },
+                            angular: Vector3 {
+                                z: (rand::random::<f64>() - 0.5) * 5.0,
+                                ..Default::default()
+                            },
+                        };
+                        println!("tick {i}, sending {direction:?}");
+                        turtle_vel_publisher.publish(direction).unwrap();
+                    }
+                    other => eprintln!("Ignoring unexpected input `{other}`"),
+                },
+                Event::Stop => println!("Received manual stop"),
+                other => eprintln!("Received unexpected input: {other:?}"),
+            },
+            MergedEvent::External(pose) => {
+                println!("received pose event: {pose:?}");
+                if let Ok((pose, _)) = pose {
+                    let serialized = serde_json::to_string(&pose)?;
+                    node.send_output_bytes(
+                        output.clone(),
+                        Default::default(),
+                        serialized.len(),
+                        serialized.as_bytes(),
+                    )?;
+                }
+            }
+        }
+    }
+
+    Ok(())
+}
+
+fn init_ros_node() -> eyre::Result<ros2_client::Node> {
+    let ros_context = ros2_client::Context::new().unwrap();
+
+    ros_context
+        .new_node(
+            "turtle_teleop", // name
+            "/ros2_demo",    // namespace
+            NodeOptions::new().enable_rosout(true),
+        )
+        .context("failed to create ros2 node")
+}
+
+fn create_vel_publisher(
+    ros_node: &mut ros2_client::Node,
+) -> eyre::Result<ros2_client::Publisher<Twist>> {
+    let topic_qos: rustdds::QosPolicies = {
+        rustdds::QosPolicyBuilder::new()
+            .durability(policy::Durability::Volatile)
+            .liveliness(policy::Liveliness::Automatic {
+                lease_duration: ros2::Duration::DURATION_INFINITE,
+            })
+            .reliability(policy::Reliability::Reliable {
+                max_blocking_time: ros2::Duration::from_millis(100),
+            })
+            .history(policy::History::KeepLast { depth: 1 })
+            .build()
+    };
+
+    let turtle_cmd_vel_topic = ros_node
+        .create_topic(
+            "/turtle1/cmd_vel",
+            String::from("geometry_msgs::msg::dds_::Twist_"),
+            &topic_qos,
+        )
+        .context("failed to create topic")?;
+
+    // The point here is to publish Twist for the turtle
+    let turtle_cmd_vel_writer = ros_node
+        .create_publisher::<Twist>(&turtle_cmd_vel_topic, None)
+        .context("failed to create publisher")?;
+    Ok(turtle_cmd_vel_writer)
+}
+
+fn create_pose_reader(
+    ros_node: &mut ros2_client::Node,
+) -> eyre::Result<ros2_client::Subscription<Pose>> {
+    let turtle_pose_topic = ros_node
+        .create_topic(
+            "/turtle1/pose",
+            String::from("turtlesim::msg::dds_::Pose_"),
+            &Default::default(),
+        )
+        .context("failed to create topic")?;
+    let turtle_pose_reader = ros_node
+        .create_subscription::<Pose>(&turtle_pose_topic, None)
+        .context("failed to create subscription")?;
+    Ok(turtle_pose_reader)
+}
diff --git a/examples/rust-ros2-dataflow/run.rs b/examples/rust-ros2-dataflow/run.rs
new file mode 100644
index 00000000..a7d35429
--- /dev/null
+++ b/examples/rust-ros2-dataflow/run.rs
@@ -0,0 +1,55 @@
+use eyre::{bail, Context};
+use std::path::Path;
+use tracing::metadata::LevelFilter;
+use tracing_subscriber::Layer;
+
+#[derive(Debug, Clone, clap::Parser)]
+pub struct Args {
+    #[clap(long)]
+    pub run_dora_runtime: bool,
+}
+
+#[tokio::main]
+async fn main() -> eyre::Result<()> {
+    let Args { run_dora_runtime } = clap::Parser::parse();
+
+    if run_dora_runtime {
+        return tokio::task::block_in_place(dora_daemon::run_dora_runtime);
+    }
+
+    set_up_tracing().wrap_err("failed to set up tracing subscriber")?;
+
+    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
+    std::env::set_current_dir(root.join(file!()).parent().unwrap())
+        .wrap_err("failed to set working dir")?;
+
+    let dataflow = Path::new("dataflow.yml");
+    build_dataflow(dataflow).await?;
+
+    dora_daemon::Daemon::run_dataflow(dataflow).await?;
+
+    Ok(())
+}
+
+async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> {
+    let cargo = std::env::var("CARGO").unwrap();
+    let mut cmd = tokio::process::Command::new(&cargo);
+    cmd.arg("run");
+    cmd.arg("--package").arg("dora-cli");
+    cmd.arg("--").arg("build").arg(dataflow);
+    if !cmd.status().await?.success() {
+        bail!("failed to build dataflow");
+    };
+    Ok(())
+}
+
+fn set_up_tracing() -> eyre::Result<()> {
+    use tracing_subscriber::prelude::__tracing_subscriber_SubscriberExt;
+
+    let stdout_log = tracing_subscriber::fmt::layer()
+        .pretty()
+        .with_filter(LevelFilter::DEBUG);
+    let subscriber = tracing_subscriber::Registry::default().with(stdout_log);
+    tracing::subscriber::set_global_default(subscriber)
+        .context("failed to set tracing global subscriber")
+}