Add Mole bridge to SubT launch pipeline.
Mole integration requires launching a ROS/Pulsar bridge that communicates with the Gazebo server pod. This bridge converts specific ROS topics to Pulsar and forwards them to the Mole application for processing.
The SubT launch pipeline has been updated to launch a Mole bridge pod when configured. In order to configure the bridge and launch the bridge for a specific world, a docker image URI must be specified in the optional
SubTCircuitRules.MoleBridgeImage model field.
The bridge requires some environment variables to be configured to uniquely identify each simulation. The following environment variables are configured for the bridge during launch:
ROS_MASTER_URIis set to the Ignition Gazebo server's IP.
WORLD_IDSpecifies the launched world. This value starts at 1 and is set to the multi-sim world identifier (as opposed to the run identifier).
TEAM_IDSpecifies the team associated with the simulation. This value is set to the simulation's owning team database identifier.
REPLICATION_IDSimulation unique identifier. This value set to the simulation's GroupId.