ROS: verify topic data in integration tests

[sgrizan-nv]

Summary by CodeRabbit

• New Features

  • MCAP replay mode lets the teleop app run from recorded ROS 2 data via a new replay parameter.

• Documentation

  • Added "MCAP Replay" documentation with Docker examples and usage notes.

• Tests

  • Added integration tests: deterministic MCAP fixture generator and a topic verifier to validate teleop behavior in CI.

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📝 Walkthrough

Walkthrough

This PR introduces MCAP-based replay capability for integration testing the teleop_ros2 system. A new C++ utility (teleop_ros2_mcap_generator) produces deterministic MCAP fixture files containing synthetic controller, hand, pedal, and full-body pose/joint data. The node gains an optional mcap_replay_path parameter to replay from these fixtures instead of live input, replacing the previous mock/plugin operator system. A Python ROS 2 verifier subscribes to published topics, validates message contents with type-specific assertions, and tracks validation timeouts, reporting success/failure via exit code. The CI workflow now generates MCAP files, launches the node with replay paths for each mode, and runs the topic verifier in a container to gate the workflow on validation success.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 5.56% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title accurately summarizes the main change: adding topic data verification in integration tests, which is the core purpose reflected across workflow updates, new verifier scripts, and MCAP replay infrastructure.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch sgrizan/branch5

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Actionable comments posted: 2

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@examples/teleop_ros2/cpp/integration_tests/mcap_generator.cpp`:
- Around line 126-159: The PedalChannels constructor in write_fixture currently
uses core::PedalRecordingTraits::replay_channels which omits the "pedals"
channel; change the PedalChannels instantiation to use
core::PedalRecordingTraits::recording_channels so the pedal fixture matches
ControllerChannels/HandChannels/FullBodyChannels and includes both "pedals" and
"pedals_tracked" (update the argument passed to PedalChannels that currently
references replay_channels to recording_channels).

In `@examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py`:
- Around line 43-167: The tests use bare assert statements that can be disabled
under Python optimization; update each validator to perform explicit runtime
checks and raise appropriate exceptions (e.g., ValueError or RuntimeError)
instead of using assert. Replace all asserts in _assert_pose_array,
_assert_joint_state, _assert_twist, _assert_root_pose,
_assert_controller_payload, and _assert_full_body_payload with if-not-condition:
raise ValueError("...") (preserving the existing error messages) and ensure
sequence/length checks (_is_finite_sequence checks and any(...) checks) follow
the same pattern so validation is always enforced.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

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📥 Commits

Reviewing files that changed from the base of the PR and between 4f9c2a6 and f964c8c.

📒 Files selected for processing (7)

• .github/workflows/build-ubuntu.yml
• examples/teleop_ros2/CMakeLists.txt
• examples/teleop_ros2/README.md
• examples/teleop_ros2/cpp/integration_tests/CMakeLists.txt
• examples/teleop_ros2/cpp/integration_tests/mcap_generator.cpp
• examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py
• examples/teleop_ros2/python/teleop_ros2_node.py