SIM: custom ros2 node benchmark

[maciejmajek]

• Create a custom ROS node[s] with custom messages for RAI generalization testing in an unknown environment.
• What the node does is an open question - it should be realistic, but not a very common use case as we would like to test non-standard system handling.

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Implementation:

• 1 topic that RAI can subscribe to
• 1 topic with subscriber
• 1 service
• 1 action