Replace IMU messages with new dummy messages

[prajakta-gokhale]

• Define a new message type DummyMessage that has a Header
• Use DummyMessage in unit tests instead of sensor_msgs::msg::Imu
• Remove dependency on sensor_msgs

Fixes #120.

Signed-off-by: Prajakta Gokhale prajaktg@amazon.com

[codecov]

Codecov Report

Merging #121 into master will increase coverage by 1.84%.
The diff coverage is 33.33%.

@@            Coverage Diff             @@
##           master     #121      +/-   ##
==========================================
+ Coverage   35.06%   36.91%   +1.84%     
==========================================
  Files          29       32       +3     
  Lines        1363     1406      +43     
  Branches      878      877       -1     
==========================================
+ Hits          478      519      +41     
- Misses         81       85       +4     
+ Partials      804      802       -2     

Flag	Coverage Δ
#unittests	36.91% <33.33%> (+1.84%)	⬆️

Impacted Files	Coverage Δ
...ics_collector/test_subscriber_topic_statistics.cpp	35.89% <33.33%> (+0.04%)	⬆️
...r/msg/dds_fastrtps/dummy_message__type_support.cpp	94.73% <0.00%> (ø)
...rics_collector/msg/dummy_message__type_support.cpp	60.00% <0.00%> (ø)
...em_metrics_collector/msg/dummy_message__struct.hpp	100.00% <0.00%> (ø)

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[thomas-moulard]

Exposing publicly the test message now forces us to release it, and preserving some type of compatibility as it's a "publicly accessible resource". Why not just put the message in test/dummy.msg, and drop the new package altogether?

[thomas-moulard]

Actually, I thought it was a new package, but it's dropped in the middle of messages we use in prod. Let's not do that.

[prajakta-gokhale]

Why not just put the message in test/dummy.msg, and drop the new package altogether?

I'll try that. Since it's needed in 2 packages (libstatictics_collector and topic_statisticvs_collector), is it okay to depend on test/dummy.msg of one package from another?

[thomas-moulard]

I think duplicating the test message is OK as this is trivial.

[prajakta-gokhale]

As I understand, in order to move DummyMessage to individual packages that need them, these library changes had to be made:

• Create two separate target libraries ${PROJECT_NAME} and ${PROJECT_NAME}_shared. The message generation step creates a Utility library with the name ${PROJECT_NAME}. This has to be kept separate from the Shared library that the package exports.
• The Utility library name has to be same as ${PROJECT_NAME} because all the typesupport_impl's are named package_name__typesupport__rmw_name by rosidl generators.