Start create the ros2 package and address some comments

Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com>

Author: teresa-ortega

lambkin_ros2/CMakeLists.txt

@@ -0,0 +1,12 @@
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+
+
+install(
+  DIRECTORY
+    launch
+  DESTINATION share/${PROJECT_NAME})
+  DESTINATION share/${PROJECT_NAME})
+
+ament_package()

lambkin_ros2/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>lambkin_ros2</name>
+  <version>1.0.0</version>
+  <description>Benchmarking tool for Beluga Localization (LAMBKIN)</description>
+
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-pandas</exec_depend>
+  <exec_depend>python3-tk</exec_depend>
+
+
+  <exec_depend>ros2bag</exec_depend>
+  <exec_depend>rosbag2_transport</exec_depend>
+  <exec_depend>rosbag2_storage_default_plugins</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

examples/default.ros2.yaml lambkin_ros2/params/default.ros2.yamlexamples/default.ros2.yaml renamed to lambkin_ros2/params/default.ros2.yaml

@@ -22,6 +22,7 @@
 RECORD_TOPICS_INTERESTED = ["/pose", "/tf", "/tf_static"]
 RESULTS_PATH = "/ws/lambkin/benchmarking_results"
 DRY_MODE = True
+PROCESS_TERMINATION_TIMEOUT = 5.0
 
 
 def execute_background_process(
@@ -204,16 +205,19 @@ def wait_for_processes(
         waitlist (list[subprocess.Popen]): Processes that must complete naturally.
         termination_list (list[subprocess.Popen]): Processes that should be terminated.
     """
+    # Wait waitlist processes to finish naturally
     for p in waitlist:
         if p is not None:
             p.wait()
+    # Broadcast SIGTERM to all termination_list processes
     for p in termination_list:
         if p is not None:
             p.terminate()
+    # Wait up to timeout for them to close; force-kill if they hang
     for p in termination_list:
         if p is not None:
             try:
-                p.wait(timeout=5.0)
+                p.wait(timeout=PROCESS_TERMINATION_TIMEOUT)
             except subprocess.TimeoutExpired:
                 print("Forcing process termination...")
                 p.kill()