Loading Topics Directly into SAM

In some cases, it is desirable to load unprocessed ROS topics directly into SAM so that they can be read from elsewhere in the MOnarCH architecture. To avoid having to explicitly create specific and individual ROS nodes for every such case to act as SA Writers, the monarch_situational_awareness package provides a built-in ROS node, ‘sam_topic_loader’, that can be used for this purpose. Simply set the ‘topics_to_load’ ROS parameter in the private namespace of the topic loader node - it should be a dictionary where each desired Slot name maps to a particular topic in the absolute ROS namespace. Check the example in ‘monarch_situational_awareness/config/topics_to_load.yaml’.