Validation of communication

The demo can be used as a validation for the correctness of communication between an Autoware pipeline running on the Primary Compute and a Zephyr application running on the Safety Island. It validates that the content of ROS2 messages from Autoware can be received and read by a non-ROS application running on Zephyr on a Cortex-R cluster. It also validates the network connection between the two platforms.

Additional code path has been added to both Zephyr app (to forward control commands to host that can be validated by the Packet Analyzer) and Zephyr tests (to validate this forwarding of control commands). The Zephyr app’s behavior of publishing control commands via DDS or forwarding control commands to the host can be set with the -b option when using the build script.