Intrinsic pubsub

Intrinsic pubsub allows services and skills to exchange data by publishing and subscribing to topics. In the example below, we share an image across a skill and then receive it in a service.

// In the skill
#include "intrinsic/platform/pubsub/pubsub.h"

Image img;
PubSub pubsub;  // Always keep the reference of Pubsub alive
INTR_ASSIGN_OR_RETURN(auto publisher,
                      pubsub->CreatePublisher("/skill1/analysis", TopicConfig()));
INTR_RETURN_IF_ERROR(publisher.Publish("/skill1/analysis", img));

// In the service
#include "intrinsic/platform/pubsub/pubsub.h"

Image img;
PubSub pubsub;  // Always keep the reference of Pubsub alive
INTR_ASSIGN_OR_RETURN(
  auto sub,
  pubsub.CreateSubscription<Image>("/skill1/analysis",
    [](const Image& img) {
      // Here we process the received message.
    },
    [](absl::string_view packet, absl::Status error) {
      // Here we handle receiving of an invalid message (Unimplemented).
});