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README.md

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+# ROS 2 port for libQi
+
+libQi is a C++ middleware that provides RPC, type-erasure,
+cross-language interoperability, OS abstractions, logging facilities,
+asynchronous task management, dynamic module loading.
+
+## Compilation
+
+Clone this project in your ROS 2 workspace (under `src/`),
+and run `colcon build`.
+
+## C++ Example
+
+The following example shows some features of the framework, please refer to the
+documentation for further details.
+
+```cpp
+#include <boost/make_shared.hpp>
+#include <qi/log.hpp>
+#include <qi/applicationsession.hpp>
+#include <qi/anyobject.hpp>
+
+qiLogCategory("myapplication");
+
+class MyService
+{
+public:
+  void myFunction(int val) {
+    qiLogInfo() << "myFunction called with " << val;
+  }
+  qi::Signal<int> eventTriggered;
+  qi::Property<float> angle;
+};
+
+// register the service to the type-system
+QI_REGISTER_OBJECT(MyService, myFunction, eventTriggered, angle);
+
+void print()
+{
+  qiLogInfo() << "print was called";
+}
+
+int main(int argc, char* argv[])
+{
+  qi::ApplicationSession app(argc, argv);
+
+  // connect the session included in the app
+  app.start();
+
+  qi::SessionPtr session = app.session();
+
+  // register our service
+  session->registerService("MyService", boost::make_shared<MyService>());
+
+  // get our service through the middleware
+  qi::AnyObject obj = session->service("MyService").value();
+
+  // call myFunction
+  obj.call<void>("myFunction", 42);
+
+  // call print in 2 seconds
+  qi::async(&print, qi::Seconds(2));
+
+  // block until ctrl-c
+  app.run();
+}
+```
+
+You can then run the program with:
+
+```bash
+./myservice --qi-standalone # for a standalone server
+./myservice --qi-url tcp://somemachine:9559 # to connect to another galaxy of sessions
+```
+
+## Links
+
+Upstream repository:
+http://github.com/aldebaran/libqi
+
+Documentation:
+http://doc.aldebaran.com/libqi/
+
+IRC Channel:
+#qi on freenode.
+
+Upstream Maintainers:
+
+- Joël Lamotte <[email protected]>
+- Jérémy Monnon <[email protected]>
+- Matthieu Paindavoine <[email protected]>
+- Vincent Palancher <[email protected]>
+
+See the [`package.xml`](package.xml) for the ROS 2 maintainers.