feat: Replace cbor with cbor2 library, remove inline implementation (backport #1107) (#1109)

* feat: Replace cbor with cbor2 library, remove inline implementation

* Add simple test for encoding ROS message to CBOR

Author: bjsowa

rosbridge_library/package.xml

@@ -20,6 +20,7 @@ ROS action, like subscribe, publish, call service, and interact with params.
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>python3-bson</exec_depend>
+  <exec_depend>python3-cbor2</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>python3-pil</exec_depend>
   <exec_depend>python3-ujson</exec_depend>

rosbridge_library/src/rosbridge_library/internal/cbor_conversion.py

@@ -3,10 +3,7 @@
 import struct
 from typing import TYPE_CHECKING, Any
 
-try:
-    from cbor import Tag
-except ImportError:
-    from rosbridge_library.util.cbor import Tag
+from cbor2 import CBORTag
 
 if TYPE_CHECKING:
     from rosbridge_library.internal.type_support import ROSMessage
@@ -99,7 +96,7 @@ def extract_cbor_values(msg: ROSMessage) -> dict[str, Any]:
             tag, fmt = TAGGED_ARRAY_FORMATS[slot_type]
             fmt_to_length = fmt.format(len(val))
             packed = struct.pack(fmt_to_length, *val)
-            out[slot] = Tag(tag=tag, value=packed)
+            out[slot] = CBORTag(tag=tag, value=packed)
 
         # array of messages
         elif type(val) in LIST_TYPES:

rosbridge_library/src/rosbridge_library/internal/outgoing_message.py

@@ -2,17 +2,14 @@
 
 from typing import Any, Generic
 
+from cbor2 import dumps as encode_cbor
+
 from rosbridge_library.internal.cbor_conversion import extract_cbor_values
 from rosbridge_library.internal.message_conversion import (
     extract_values as extract_json_values,
 )
 from rosbridge_library.internal.type_support import ROSMessageT
 
-try:
-    from cbor import dumps as encode_cbor
-except ImportError:
-    from rosbridge_library.util.cbor import dumps as encode_cbor
-
 
 class OutgoingMessage(Generic[ROSMessageT]):
     """A message wrapper for caching encoding operations."""