Test Warehouse Robot Fleets with ROS 2 Nav2 and Gazebo Simulation

                      
                     
"""
Production implementation for testing warehouse robot fleets using ROS 2 Nav2 and Gazebo.
Provides secure, scalable operations for simulation and testing.
"""

from typing import Dict, Any, List, Tuple
import os
import logging
import time
import random
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped

logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class Config:
    """
    Configuration class to manage environment variables.
    """
    gazebo_model: str = os.getenv('GAZEBO_MODEL', 'warehouse_robot')
    simulation_time: float = float(os.getenv('SIMULATION_TIME', '10'))

def validate_input(data: Dict[str, Any]) -> bool:
    """Validate input data for robot fleet testing.
    
    Args:
        data: Input data containing robot configurations.
    Returns:
        True if valid.
    Raises:
        ValueError: If validation fails.
    """
    if 'robots' not in data:
        raise ValueError('Missing robots configuration')  # Ensure robots key exists
    return True

def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input data for security.
    
    Args:
        data: Input data to sanitize.
    Returns:
        Sanitized data.
    Raises:
        ValueError: If data is not valid.
    """
    sanitized = data.copy()  # Make a copy to sanitize
    for key in sanitized:
        if isinstance(sanitized[key], str):
            sanitized[key] = sanitized[key].strip().lower()  # Strip whitespace and lower case
    return sanitized

def transform_records(data: Dict[str, Any]) -> List[Dict[str, Any]]:
    """Transform input data for processing.
    
    Args:
        data: Input data to transform.
    Returns:
        List of transformed records.
    """
    return [{'robot_id': robot['id'], 'pose': robot['pose']} for robot in data['robots']]

def process_batch(records: List[Dict[str, Any]]) -> None:
    """Process a batch of robot records.
    
    Args:
        records: List of robot records to process.
    """
    for record in records:
        logger.info(f"Processing robot: {record['robot_id']}")  # Log processing action
        publish_pose(record['pose'])  # Publish pose to ROS

def publish_pose(pose: Dict[str, float]) -> None:
    """Publish the robot's pose to ROS 2.
    
    Args:
        pose: Pose of the robot to publish.
    """
    rclpy.init()  # Initialize ROS 2 communication
    node = Node('robot_publisher')
    pose_pub = node.create_publisher(PoseStamped, 'robot_pose', 10)
    message = PoseStamped()
    message.header.stamp = node.get_clock().now().to_msg()
    message.pose.position.x = pose['x']
    message.pose.position.y = pose['y']
    logger.info(f"Publishing pose: {pose}")  # Log published pose
    pose_pub.publish(message)
    time.sleep(1)  # Sleep to simulate delay
    rclpy.shutdown()  # Shutdown ROS 2

class RobotFleetTester:
    """Main orchestrator class for robot fleet testing.
    """
    def __init__(self, config: Config):
        self.config = config

    def run_tests(self, data: Dict[str, Any]) -> None:
        """Run the robot fleet tests.
        
        Args:
            data: Input data for testing.
        """
        try:
            validate_input(data)  # Validate input data
            sanitized_data = sanitize_fields(data)  # Sanitize input
            records = transform_records(sanitized_data)  # Transform input
            process_batch(records)  # Process records
        except ValueError as e:
            logger.error(f"Validation error: {e}")  # Log validation errors
        except Exception as e:
            logger.error(f"An error occurred: {e}")  # Log unexpected errors

if __name__ == '__main__':
    # Example usage
    config = Config()  # Load configuration
    tester = RobotFleetTester(config)  # Initialize the tester
    test_data = {'robots': [{'id': 'robot_1', 'pose': {'x': 1.0, 'y': 2.0}}, {'id': 'robot_2', 'pose': {'x': 3.0, 'y': 4.0}}]}  # Example test data
    tester.run_tests(test_data)  # Run tests