686 - removed example node (cached_fib)

src/integration_tests/testplans/example.yaml

@@ -8,11 +8,6 @@ required_packages:
     - example/example_en.yaml
     - mock_ais/mock_ais_en_default.yaml
 inputs:
-  - type: ROS
-    name: cached_fib_in
-    data:
-      dtype: uint64
-      val: 6
   - type: ROS
     name: aisship
     data:
@@ -93,11 +88,6 @@ inputs:
               val: -3
 
 expected_outputs:
-  - type: ROS
-    name: cached_fib_out
-    data:
-      dtype: uint64
-      val: 5
   - type: ROS
     name: aisships
     data:

src/network_systems/README.md

@@ -54,7 +54,7 @@ For example:
 ## Testing
 
 Unit tests specific to Network Systems is done using [GoogleTest](https://github.com/google/googletest). Unit tests
-are defined per module. For example, under [projects/example/test/](projects/example/test/test_cached_fib.cpp).
+are defined per module.
 
 ### Run All Tests
 
@@ -68,7 +68,7 @@ unnecessary.
 ### Run and Debug Specific Tests
 
 This is the preferred way to run and debug tests. When you open a test source file like
-[the example's](projects/example/test/test_cached_fib.cpp), there will be green arrows next to each `TEST_F` macro.
+[the example's](projects/can_transceiver/test/test_can_transceiver.cpp), there will be green arrows next to each `TEST_F` macro.
 Clicking a double green arrow runs a test suite, while clicking single green arrow runs one unit test. Right clicking
 either arrow will open a prompt with a debug test option. When running a test via the debug option, we can set
 breakpoints and step through our code line by line to resolve issues.

src/network_systems/config/all_disable.yaml

@@ -3,11 +3,7 @@
 can_transceiver_node:
   ros__parameters:
     enabled: false
-
-cached_fib_subscriber:
-  ros__parameters:
-    enabled: false
-
+
 local_transceiver_node:
   ros__parameters:
     enabled: false

src/network_systems/config/default_dev_en.yaml

@@ -3,10 +3,6 @@ can_transceiver_node:
   ros__parameters:
     enabled: true
 
-cached_fib_subscriber:
-  ros__parameters:
-    enabled: false
-
 local_transceiver_node:
   ros__parameters:
     enabled: true

src/network_systems/config/default_prod_en.yaml

@@ -2,11 +2,7 @@
 can_transceiver_node:
   ros__parameters:
     enabled: true
-
-cached_fib_node:
-  ros__parameters:
-    enabled: false
-
+
 local_transceiver_node:
   ros__parameters:
     enabled: true

src/network_systems/launch/main_launch.py

@@ -17,7 +17,6 @@
 SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
 sys.path.append(SCRIPT_DIR)
 from ros_info import (  # noqa: E402
-    CACHED_FIB_NODE,
     CAN_TRANSCEIVER_NODE,
     MOCK_AIS_NODE,
     REMOTE_TRANSCEIVER_NODE,
@@ -87,46 +86,13 @@ def setup_launch(context: LaunchContext) -> List[Node]:
             name="ROS_LOG_DIR", value="/workspaces/sailbot_workspace/log"
         ).visit(context)
     launch_description_entities = list()
-    launch_description_entities.append(get_cached_fib_description(context))
     launch_description_entities.append(get_mock_ais_description(context))
     launch_description_entities.append(get_can_transceiver_description(context))
     launch_description_entities.append(get_remote_transceiver_description(context))
     launch_description_entities.append(get_local_transceiver_description(context))
     return launch_description_entities
 
 
-def get_cached_fib_description(context: LaunchContext) -> Node:
-    """Gets the launch description for the cached_fib_node.
-
-    Args:
-        context (LaunchContext): The current launch context.
-
-    Returns:
-        Node: The node object that launches the cached_fib_node.
-    """
-    node_name = CACHED_FIB_NODE
-    ros_parameters = [
-        global_launch_config,
-        {"mode": LaunchConfiguration("mode")},
-        *LaunchConfiguration("config").perform(context).split(","),
-    ]
-    ros_arguments: List[SomeSubstitutionsType] = [
-        "--log-level",
-        [f"{node_name}:=", LaunchConfiguration("log_level")],
-    ]
-
-    node = Node(
-        package=PACKAGE_NAME,
-        namespace=NAMESPACE,
-        executable="example",
-        name=node_name,
-        parameters=ros_parameters,
-        ros_arguments=ros_arguments,
-    )
-
-    return node
-
-
 def get_mock_ais_description(context: LaunchContext) -> Node:
     """Gets the launch description for the mock_ais_node.
 

src/network_systems/projects/CMakeLists.txt

@@ -1,6 +1,5 @@
 add_subdirectory(mock_ais)
 add_subdirectory(can_transceiver)
-add_subdirectory(example)
 add_subdirectory(local_transceiver)
 add_subdirectory(remote_transceiver)
 

src/network_systems/ros_info.yaml

@@ -20,7 +20,6 @@ ros_topics:
 
 ros_nodes:
   CAN_TRANSCEIVER: can_transceiver_node
-  CACHED_FIB: cached_fib_node
   LOCAL_TRANSCEIVER: local_transceiver_node
   MOCK_AIS: mock_ais_node
   REMOTE_TRANSCEIVER: remote_transceiver_node