Add support for destroy node as in this feature of rclpy.

Found a small bug below in the json.dumps() that prevent a message not to be sent as a JSON object, instead it will be treated as a string data.

Modify the ContextHandler class into a SessionHandler class, and merge the currently Session class into the Bridge class.

Create a WebSocket server using the websockets library. Then, add a simple Node handler and Subscription handler that will be generated when clients requested to the WebSocket server. See ros2cli on how to generate a subscription with a message string instead of a message object.

Add a ROS 2 CI on GitHub Actions using the ros2-ci action.

Add support to check whether a service is ready or not using SERVICE_IS_READY that immediately return the result and WAIT_FOR_SERVICE that return the result if ready or after timeout.

Add support to Action Server creation, destruction, handle goal, handle cancel, and handle execution.

Add support for Service creation, Service destruction, and Service callback handle as in the rclpy Service documentation.

Add support for Client creation, Client destruction, and Client Service call as in the rclpy Client documentation.

I don't know why, the websockets library for python needed a hostname parameter aside of the port parameter to initialize the WebSocket server. Currently the default hostname is set to localhost, it works when tested on the same host, but failed when tested outside it. Perhaps there's some way that could enable the host to bind to all addresses instead of just the localhost address.

Add support for create Publisher request and destroy Publisher request as in the Node features of rclpy.

Update kumo_json in the package.xml into yakusha (previously named kumo_json).

Add support for destroy subscription request as in this feature of rclpy.

Separate the content of bridge.py into several modules as related to the function of each part of that program.

Separate programs that handle serialization between Msg and JSOn into a separate package. This package later could be used by another package (ex: the still planned configuration package).

Add support to parse optional arguments when running the bridge using argparse.

There's several things that need to be modified in this project.

• Use import x instead of from x import y if the y value is not needed. For example, see __init__.py in the source directories of this project. This could also be used to avoid circular import as seen in this question.
  

  kumo/kumo/handlers/__init__.py

  Lines 21 to 35 in 14f95ad

  	from .message_handlers import (CreateNodeHandler, CreateSubscriptionHandler,
  	DestroySubscriptionHandler, SubscriptionCallbackHandler)
  	from .message_handler import MessageHandler
  	from .node_handler import NodeHandler
  	from .subscription_handler import SubscriptionHandler
  	# Prevent unused import error
  	CreateNodeHandler
  	CreateSubscriptionHandler
  	DestroySubscriptionHandler
  	SubscriptionCallbackHandler
  	MessageHandler
  	NodeHandler
  	SubscriptionHandler

• Separate concern of handlers to be a manager and several handlers. For example, there will be a MessageManager that will manages several MessageHandler.

Update the information inside the readme.md to includes information regarding about how to setup this project, usage, and several additional descriptions.

Add support to Action Client creation, destruction, send goal, handle feedback and result as in this documentation.

Remove the following serialization functions as it's unused and already replaced by serialization function on Kumo JSON.

Hello. When launching kumo bridge from a ros2 launch file, extra parameters are passed which cause parse_args() to error.
I did some searching but couldn't figure out how to turn this off from the ros2 side of things.

parallels@ubuntu:/media/psf/Workspace$ ros2 launch launch/demo.py 
[INFO] [launch]: All log files can be found below /home/parallels/.ros/log/2023-04-06-10-50-16-794536-ubuntu-547275
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [bridge-1]: process started with pid [547277]
[bridge-1] usage: ros2 run kumo bridge [-h] [--port PORT] [--hosts HOSTS [HOSTS ...]]
[bridge-1] ros2 run kumo bridge: error: unrecognized arguments: --ros-args
[ERROR] [bridge-1]: process has died [pid 547277, exit code 2, cmd '/media/psf/Workspace/install/kumo/lib/kumo/bridge --ros-args'].

A one-line fix would be changing this line in scripts/bridge.py to just ignore the extra parameters:

-    arg = parser.parse_args()
+    (arg, _) = parser.parse_known_args()

I can open a PR.