Add resources to consume exploy from ROS workspaces

### What change is being made

- Expose the plain-CMake `exploy` library to ament.
- Add new `exploy_vendor` ROS2 package to allow consuming the `exploy`
library downstream.

### Why this change is being made

Simplify importing `exploy` in downstream ROS2 workspaces.

### Tested

Tested the integration with our ROS2 workspace.

---------

Co-authored-by: Annika Wollschläger <awollschlaeger@theaiinstitute.com>
GitOrigin-RevId: 7e708a5d758a010c941f50744a6d63c7bdcf3cac

Author: 2 people

control/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>exploy</name>
+    <version>0.1.0</version>
+    <description>EXport and dePLOY Reinforcement Learning policies.</description>
+    <maintainer email="dbellicoso@rai-inst.com">Dario Bellicoso</maintainer>
+    <maintainer email="awollschlaeger@rai-inst.com">Annika Wollschläger</maintainer>
+    <license>MIT</license>
+
+    <buildtool_depend>cmake</buildtool_depend>
+
+    <depend>eigen</depend>
+    <depend>fmt</depend>
+    <depend>nlohmann-json-dev</depend>
+
+    <!-- Not part of rosdistro yet, system-wide installation expected. -->
+    <!-- <depend>onnxruntime</depend> -->
+
+    <export>
+        <build_type>cmake</build_type>
+    </export>
+</package>

ros/exploy_vendor/CMakeLists.txt

@@ -0,0 +1,26 @@
+# Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+cmake_minimum_required(VERSION 3.16)
+project(exploy_vendor)
+
+# Load macros for ament packages.
+find_package(ament_cmake REQUIRED)
+
+# Find the wrapped package.
+find_package(exploy REQUIRED CONFIG)
+
+# Create an interface library that wraps the imported targets.
+add_library(${PROJECT_NAME} INTERFACE)
+target_link_libraries(${PROJECT_NAME} INTERFACE exploy::exploy)
+
+# Create an alias target for easier usage in downstream packages.
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+# Install and export.
+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets)
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+
+# Export exploy as a dependency for downstream packages.
+ament_export_dependencies(exploy)
+
+# Generate package configuration files for downstream packages to find this package.
+ament_package()

ros/exploy_vendor/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>exploy_vendor</name>
+    <version>0.0.0</version>
+    <description>Wrapper package for exploy C++ library</description>
+    <maintainer email="dbellicoso@rai-inst.com">Dario Bellicoso</maintainer>
+    <maintainer email="awollschlaeger@rai-inst.com">Annika Wollschläger</maintainer>
+    <license>MIT</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <depend>eigen</depend>
+    <depend>exploy</depend>
+    <depend>fmt</depend>
+    <depend>nlohmann-json-dev</depend>
+
+    <!-- Not part of rosdistro yet, system-wide installation expected. -->
+    <!-- <depend>onnxruntime</depend> -->
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>