feat: bag play remap

[hayato-m126]

Types of PR

• New Features

Description

• Allow users to add bag play remap with argument remap

# usage. for example remap gnss topics
❯ ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=$HOME/dlr2_data/localization/unlabeled.yaml remap:=/sensing/gnss/ublox/fix_velocity,/sensing/gnss/ublox/nav_sat_fix

It shows what is being remapped.
See remap_command is ['--remap', ...]

driving_log_replayer adds the topic to be remapped according to the use case, and the topic to be remapped specified by the user is displayed.

# launch command sample
[INFO] [launch]: All log files can be found below /home/hyt/.ros/log/2024-11-07-16-52-56-190738-dpc2405001-1683141
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: t4_dataset_path=PosixPath('/home/hyt/dlr2_data/localization/bag_only_dataset'), dataset_index=0, output_dir=PosixPath('/home/hyt/dlr2_data/localization/out/2024-1107-165256'), use_case=localization
[INFO] [launch.user]: check_launch_component(conf)={'sensing': 'true', 'localization': 'true', 'perception': 'false', 'planning': 'false', 'control': 'false'}
[INFO] [launch.user]: conf.get('initial_pose')='{"position": {"x": 3839.340576171875, "y": 73731.3359375, "z": 19.639482498168945}, "orientation": {"x": -0.023971009814459248, "y": 0.005891999600528019, "z": -0.9709848597542231, "w": 0.237863568369043}}', conf.get('direct_initial_pose')=None
[INFO] [launch.user]: conf.get('goal_pose')=None
1730965983.766603 [77]       ros2: determined eno1 (udp/10.0.6.231) as highest quality interface, selected for automatic interface.
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /home/hyt/ros_ws/unlabeled/install/individual_params/share/individual_params/config/default/pacmod/pacmod_extra.param.yaml
[INFO] [launch.user]: remap_command is ['--remap', '/sensing/lidar/concatenated/pointcloud:=/unused/concatenated/pointcloud', '/tf:=/unused/tf', '/localization/kinematic_state:=/unused/localization/kinematic_state', '/localization/acceleration:=/unused/localization/acceleration', '/sensing/gnss/ublox/fix_velocity:=/unused/sensing/gnss/ublox/fix_velocity', '/sensing/gnss/ublox/nav_sat_fix:=/unused/sensing/gnss/ublox/nav_sat_fix']

How to review this PR

Others

[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
41.2% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud

[TadaKazuto]

動作させる環境が無いので、コードレビューのみとさせていただきます。準備でき次第動作確認します。