[bburda]

Pull Request

Summary

The built-in cyclic-subscription samplers (data, faults, configurations, logs, updates) move from the node into the core: register_builtin_samplers(GatewayServices &). The data sampler reads an item the same way GET /{entity}/data/{id} does, so data served by a plugin DataProvider can be sampled too.

The core builds the bulk-data store from BulkDataConfig (the bulk_data.* names and defaults). The rosbags category is listed only when the fault manager serves rosbags (FaultServiceTransport::serves_rosbags(), default true), and otherwise answers like an unknown category. GET / reports bulk_data and cyclic_subscriptions from the services the host provides. The ROS 2 node keeps its behaviour.

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Issue

• part of Build the gateway HTTP layer into gateway_core #737

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Type

• Bug fix
• New feature or tests
• Breaking change
• Documentation only

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Testing

• scripts/check_cores_without_ros/run.sh builds the core with gcc 9 and no ROS, starts its REST server and checks subscriptions on topic data, plugin data and faults (two SSE events with changing values), bulk-data upload, list, download and delete, the rosbags answer and the capabilities.
• ./scripts/test.sh integ --packages-select ros2_medkit_integration_tests covers the ROS 2 node path (subscriptions and bulk-data tests).

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Checklist

• Breaking changes are clearly described (and announced in docs / changelog if needed)
• Tests were added or updated if needed
• Docs were updated if behavior or public API changed