[TB] Develop the subscriber and publisher (for Worker module)

[UmangBR]

User story

1. As a SD
2. I want to develop the publisher and the subscriber
3. So that I can get relevant topics from the mqtt node on the robot, the localisation topic and the line measurement topic. Later I can publish the current location, speed, direction and battery status.

Acceptance criteria

• Get relevant topics from the mqtt node on the robot, the localisation topic and the line measurement topic
• Publish the current location, speed, direction and battery status

Definition of done (DoD)

• Linter & Checker were performed and passed
• Code Review has been completed
• Code was merged in sprint release candidate
• Updates are written in issue comments
• Feature builds and tests successfully
• Acceptance by product owner
• User Story & Acceptance Criteria fulfilled

DoD general criteria

• Feature has been fully implemented
• Feature has been merged into the mainline
• All acceptance criteria were met
• Product owner approved features
• All tests are passing
• Developers agreed to release

[Sebastian2023]

Worker subscribes to MQTT, Sick LiDar LoC LineMeasurementMessage0403.msg, LocalizationControllerResultMessage0502, Kobuki Battery State and publishes to MQTT and Kobuki MotorPower, Twist.

[UmangBR]

In the image, it is demonstrated that via VDA5050 messages, the worker node is publishing the position of the AGv and their battery status to the MQTT and Kobuki node. As the worker node is also subscribed to the MQTT node, it is receiving messages about the next order.