Make examples work with ament_nodl 2.0.

ros2launch_security_examples/CMakeLists.txt

@@ -21,21 +21,15 @@ rclcpp_components_register_node(fake_imu_library
   PLUGIN "ros2launch_security_examples::FakeImu"
   EXECUTABLE fake_imu
 )
-# TODO(wjwwood): go back to organizing these into a nodl folder when this is fixed:
-#   https://github.com/ubuntu-robotics/nodl/issues/41
-# nodl_export_node_description_file(nodl/fake_imu.nodl.xml)
-nodl_export_node_description_file(fake_imu.nodl.xml)
+ament_nodl_register(fake_imu FILE nodl/fake_imu.nodl.yaml)
 
 add_library(imu_sink_library SHARED src/imu_sink.cpp)
 ament_target_dependencies(imu_sink_library rclcpp rclcpp_components sensor_msgs example_interfaces)
 rclcpp_components_register_node(imu_sink_library
   PLUGIN "ros2launch_security_examples::ImuSink"
   EXECUTABLE imu_sink
 )
-# TODO(wjwwood): go back to organizing these into a nodl folder when this is fixed:
-#   https://github.com/ubuntu-robotics/nodl/issues/41
-# nodl_export_node_description_file(nodl/imu_sink.nodl.xml)
-nodl_export_node_description_file(imu_sink.nodl.xml)
+ament_nodl_register(imu_sink FILE nodl/imu_sink.nodl.yaml)
 
 install(
   TARGETS

ros2launch_security_examples/nodl/fake_imu.nodl.yaml

@@ -0,0 +1,14 @@
+---
+nodl_version: 2
+description: Fake IMU node that periodically publishes synthetic IMU messages.
+publishers:
+  - name: imu
+    type: sensor_msgs/msg/Imu
+    qos:
+      history: KEEP_LAST
+      depth: 10
+      reliability: RELIABLE
+      durability: VOLATILE
+service_servers:
+  - name: reset_imu
+    type: example_interfaces/srv/Trigger

ros2launch_security_examples/nodl/imu_sink.nodl.yaml

@@ -0,0 +1,14 @@
+---
+nodl_version: 2
+description: Sink node that subscribes to the fake IMU messages and can reset the IMU.
+subscriptions:
+  - name: imu
+    type: sensor_msgs/msg/Imu
+    qos:
+      history: KEEP_LAST
+      depth: 10
+      reliability: RELIABLE
+      durability: VOLATILE
+service_clients:
+  - name: reset_imu
+    type: example_interfaces/srv/Trigger