Add field selection to ros2 topic delay - #1272
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Allow ros2 topic delay to read the timestamp header from a selected sub-message, including indexed array fields such as transforms.[0]. Add focused tests for root, nested-array, and invalid field selection. Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
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Summary
Addresses #738.
Add an optional
--fieldselector toros2 topic delayso the timestamp header can come from a nested sub-message instead of requiring the topic's root message to have a header.The selector follows the existing field syntax:
.selects nested fields.[index]selects array elementsExample for TF:
ros2 topic delay /tf --field transforms.[0]This keeps the implementation generic and does not special-case TF message types.
Testing
Added focused tests for:
--fieldis omittedDid you use Generative AI?
Yes. AI was used to assist with tests.