Add files and instructions to install pose estimators as flowstate services

Signed-off-by: Yadunund <[email protected]>

Author: Yadunund

flowstate/services/.gitignore

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+bpc_pose_estimator.tar
+bpc_pose_estimator.bundle.tar

flowstate/services/Dockerfile.service

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+# Use the bpc pose estimator image as the base image.
+ARG BASE_IMAGE=bpc_pose_estimator:example
+
+FROM ${BASE_IMAGE}
+
+# Copy the zenoh config file.
+# TODO(Yadunund): Switch to ZENOH_CONFIG_OVERRIDE after the next jazzy sync.
+COPY zenoh_config.json5 /opt/zenoh_config.json5
+
+# Set environment variables
+ENV ZENOH_SESSION_CONFIG_URI=/opt/zenoh_config.json5
+ENV ZENOH_ROUTER_CHECK_ATTEMPTS=5
+# (Optional) If you need to override the entrypoint or command, do it here.
+# For example:
+# ENTRYPOINT ["/your/new/entrypoint.sh"]
+# CMD ["your", "new", "command"]

flowstate/services/README.md

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+## Flowstate Service
+
+The Pose Estimators developed can be run as a service on [Intrinsic Flowstate](https://www.intrinsic.ai/) solutions to build applications with robotic systems.
+
+First, build another Docker image that wraps the pose estimator Docker image generated [previously](../README.md#build-and-test-custom-bpc_pose_estimator-image) with some environment variables to communicate with the Intrinsic Platform.
+
+```bash
+# Replace POSE_ESTIMATOR_DOCKER_TAG with tag of the pose estimator image generated previously.
+# Replace "bpc_pose_estimator_fs:team_name" with a different tag if needed.
+cd ~/bpc_ws/bpc/flowstate
+docker buildx build -t bpc_pose_estimator_fs:team_name \
+  --file Dockerfile.service \
+  --build-arg BASE_IMAGE=<POSE_ESTIMATOR_DOCKER_TAG> \
+  .
+
+```
+
+Next, save this Docker image locally. Note, the name of the output file must remain `bpc_pose_estimator.tar`.
+
+```bash
+docker save bpc_pose_estimator_fs:example -o bpc_pose_estimator.tar
+
+```
+
+Then build a Flowstate Service bundle.
+
+```bash
+cd ~/
+git clone https://github.com/intrinsic-ai/sdk.git
+cd sdk
+bazel run //intrinsic/tools/inbuild -- service bundle \
+  --manifest ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.manifest.textproto \
+  --oci_image ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.tar \
+  --output ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.bundle.tar
+```
+
+Finally install the Service in a running solution.
+
+```bash
+bazel run //intrinsic/tools/inctl -- service install ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.bundle.tar \
+  --cluster CLUSTER_ID \
+  --org ORG \
+  --registry REGISTRY \
+  --skip_direct_upload
+```
+
+To uninstall the Service,
+
+```bash
+bazel run //intrinsic/tools/inctl -- service uninstall ai.intrinsic.bpc_pose_estimator \
+  --solution SOLUTION_ID \
+  --org ORG
+```

flowstate/services/bpc_pose_estimator.manifest.textproto

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+metadata {
+  id {
+    package: "ai.intrinsic"
+    name: "bpc_pose_estimator"
+  }
+  vendor {
+    display_name: "Intrinsic"
+  }
+  documentation {
+    description: "A 6D pose estimator for objects in the BPC challenge."
+  }
+  display_name: "BPC Pose Estimator"
+}
+service_def {
+  real_spec {
+    image {
+      archive_filename: "bpc_pose_estimator.tar"
+    }
+  }
+  sim_spec {
+    image {
+      archive_filename: "bpc_pose_estimator.tar"
+    }
+  }
+}