add param type_check

docs/libraries.rst

@@ -1261,6 +1261,10 @@ Check the latency of the specified topic (in system time). If the check with ``c
      - ``string``
      - 
      - Class of message type, only required when 'wait_for_first_message' is set to false (e.g. ``std_msgs.msg.String``)
+   * - ``type_check``
+     - ``bool``
+     - ``true``
+     - If False, the action will not verify that the topic type matches the specified type.
 
 
 ``bag_play()``

scenario_execution_ros/scenario_execution_ros/actions/assert_topic_latency.py

@@ -26,10 +26,11 @@
 
 class AssertTopicLatency(BaseAction):
 
-    def __init__(self, topic_name: str, topic_type: str, wait_for_first_message: bool):
+    def __init__(self, topic_name: str, topic_type: str, wait_for_first_message: bool, type_check: bool):
         super().__init__()
         self.topic_name = topic_name
         self.topic_type = topic_type
+        self.type_check = type_check
         self.latency = None
         self.comparison_operator_feedback = None
         self.comparison_operator = None
@@ -112,32 +113,36 @@ def update(self) -> py_trees.common.Status:
         return result
 
     def check_topic(self):
-        if self.wait_for_first_message:
-            available_topics = self.node.get_topic_names_and_types()
-            for name, topic_type in available_topics:
-                if name == self.topic_name:
-                    topic_type = topic_type[0].replace('/', '.')
-                    if self.topic_type:
-                        if self.topic_type == topic_type:
-                            self.call_subscriber()
-                            self.is_topic = True
-                            return True
-                        else:
-                            return False  # Invalid topic or type speficied.
-                    else:
-                        self.topic_type = topic_type
-                        self.call_subscriber()
-                        self.is_topic = True  # 'topic_type' is not specified, the process will continue with the found one
-                        return True
-            # Topic not available wait....
-            return True
-        else:
+        result = True
+        if not self.wait_for_first_message:
             if not self.topic_type:
-                return False  # Topic type must be specified. (wait_for_first_message == False)
+                result = False  # Topic type must be specified. (wait_for_first_message == False)
             else:
                 self.call_subscriber()
                 self.is_topic = True  # wait_for_first_message' is set to false, the process will proceed with the specified topic and type
-                return True
+        else:
+            available_topics = self.node.get_topic_names_and_types()
+            topic_found = False
+            for name, topic_types in available_topics:
+                if name == self.topic_name:
+                    topic_found = True
+                    if not topic_types:
+                        result = False
+                        break
+                    current_topic_type = topic_types[0].replace('/', '.')
+                    if not self.topic_type:
+                        self.topic_type = current_topic_type  # 'topic_type' is not specified, the process will continue with the found one
+                        self.call_subscriber()
+                        self.is_topic = True
+                    elif self.type_check and self.topic_type != current_topic_type:
+                        result = False
+                    else:
+                        self.call_subscriber()
+                        self.is_topic = True
+                    break
+            if not topic_found:
+                pass  # Topic not available wait....
+        return result
 
     def call_subscriber(self):
         datatype_in_list = self.topic_type.split(".")

scenario_execution_ros/scenario_execution_ros/lib_osc/ros.osc

@@ -70,6 +70,7 @@ action assert_topic_latency:
     rolling_average_count: int = 1       # the check is done aganist the rolling average over x elements
     wait_for_first_message: bool = true  # start measuring with the first received message
     topic_type: string                   # class of message type, only required when wait_for_first_message is set to false (e.g. std_msgs.msg.String)
+    type_check: bool = true              # If False, the action will not verify that the topic type matches the specified type.
 
 action bag_play:
     # play back a ros bag