Add sample rosbag and launch file for testing the transformer node in Humble

.gitignore

@@ -1 +1,25 @@
+# Launch files
+*build/
+*devel/
+*install/
+*log/
+
+# Python files 
 __pycache__/
+*.pyc
+*.pyo
+*.pyd
+
+# Git history
+*.history/
+
+# VS files
+.vscode/
+.idea/
+*.swp
+
+# Dependencies 
+venv/
+*.egg-info/
+*.eggs/
+pip-log.txt

inorbit_republisher/README.md

@@ -181,7 +181,7 @@ You can run the commands below for building and running the republisher inside a
 docker run -ti --rm \
   --workdir /root/ros2_ws/ \
   -v .:/root/ros2_ws/src/inorbit_republisher \
-  osrf/ros:foxy-desktop
+  osrf/ros:humble-desktop
 ```
 
 ### Build

inorbit_republisher/launch/sample_data.launch.xml

@@ -0,0 +1,6 @@
+  <launch>
+    <node name="inorbit_republisher" pkg="inorbit_republisher" exec="republisher">
+      <param name="config" value="/root/ros2_ws/src/inorbit_republisher/test/sample_data/config.yaml" />
+    </node>
+    <executable cmd="ros2 bag play ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3 -l" output="screen" />
+</launch>

inorbit_republisher/test/README.md

@@ -0,0 +1,65 @@
+# Sample data for testing
+
+A very simple ``rosbag``  with hardcoded data for smoke testing the transformer node.
+
+```bash
+$root@7c94d2cf9659:~# ros2 bag info ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3
+
+closing.
+[INFO] [1734553121.938063653] [rosbag2_storage]: Opened database 'ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3' for READ_ONLY.
+
+Files:             ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3
+Bag size:          24.0 KiB
+Storage id:        sqlite3
+Duration:          16.005861016s
+Start:             Dec 13 2024 19:45:00.085674077 (1734119100.085674077)
+End:               Dec 13 2024 19:45:16.091535093 (1734119116.091535093)
+Messages:          34
+Topic information: Topic: /my_magnetic_field | Type: sensor_msgs/msg/MagneticField | Count: 17 | Serialization Format: cdr
+                   Topic: /my_temperature | Type: sensor_msgs/msg/Temperature | Count: 17 | Serialization Format: cdr
+
+```
+
+To validate the node works launch the sample by using the ``sample_data.launch.xml`` launch file and look at ``out`` topic: ``ros2 topic echo my_temperature``.
+1. **Start ROS2 docker container (optional)**:
+You can run the commands below for building and running the republisher inside a docker container.
+  ```bash
+  docker run -ti --rm \
+  --workdir /root/ros2_ws/ \
+  -v .:/root/ros2_ws/src/inorbit_republisher \
+  osrf/ros:humble-desktop
+  ```
+2. **Build the Workspace**:
+  Ensure the workspace is built and the environment is sourced:
+  ```bash
+  cd ~/ros2_ws
+  rosdep install --from-paths src -y --ignore-src
+  colcon build --packages-select inorbit_republisher --symlink-install
+  ```
+3. **Source and Run the Workspace**:
+```bash
+cd ros2_ws/src
+colcon build --packages-select inorbit_republisher --symlink-install
+source install/setup.bash
+cd
+ros2 launch inorbit_republisher sample_data.launch.xml
+# On a different terminal windows
+source /opt/ros/humble/setup.bash
+ros2 topic echo inorbit/custom_data
+data: my_magnetic_field_x=1.233536973711507
+---
+data: my_magnetic_field_y=6.557449696128689
+---
+data: my_magnetic_field_z=-1.6201375987982995
+---
+data: my_temperature=29.562268283427592
+---
+data: my_magnetic_field_x=-3.071746389301242
+---
+data: my_magnetic_field_y=6.080682955949868
+---
+data: my_magnetic_field_z=3.952488443512035
+---
+data: my_temperature=21.159168808582983
+---
+```

inorbit_republisher/test/sample_data/config.yaml

@@ -0,0 +1,23 @@
+republishers:
+  - topic: "/my_magnetic_field"
+    msg_type: "sensor_msgs/MagneticField"
+    mappings:
+    - field: "magnetic_field.x"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_magnetic_field_x"
+    - field: "magnetic_field.y"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_magnetic_field_y"
+    - field: "magnetic_field.z"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_magnetic_field_z"
+  - topic: "/my_temperature"
+    msg_type: "sensor_msgs/Temperature"
+    mappings:
+    - field: "temperature"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_temperature"

inorbit_republisher/test/sample_data/hardcodedRosbag/metadata.yaml

@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 16005861016
+  starting_time:
+    nanoseconds_since_epoch: 1734119100085674077
+  message_count: 34
+  topics_with_message_count:
+    - topic_metadata:
+        name: /my_temperature
+        type: sensor_msgs/msg/Temperature
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 17
+    - topic_metadata:
+        name: /my_magnetic_field
+        type: sensor_msgs/msg/MagneticField
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 17
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rosbag2_2024_12_13-19_33_34_0.db3
+  files:
+    - path: rosbag2_2024_12_13-19_33_34_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1734119100085674077
+      duration:
+        nanoseconds: 16005861016
+      message_count: 34