Add the monitor and github workflow

.dockerignore

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+
+.circleci/
+.github/
+.git/
+.github/
+fognav_msgs/.git/
+fognav_msgs/.github/
+.vscode/
+.dockerignore
+.gitignore
+**Dockerfile
+**.Dockerfile
+Dockerfile.**

.github/workflows/fastdds-locator-monitor.yaml

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+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  main:
+    name: Build & push
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ghcr.io/tiiuae/tii-fastdds-locator-monitor
+          tags: |
+            type=ref,event=branch
+            type=ref,event=pr
+            type=semver,pattern={{version}}
+            type=sha
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build image and push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          platforms: linux/amd64
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

.gitignore

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+build/*
+install/*
+log/*
+site/*

CMakeLists.txt

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+# Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.8)
+project(fastdds_monitor_tutorial)
+set(CMAKE_BUILD_TYPE RelWithDebInfo) #Debug, Release
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(fastcdr REQUIRED)
+find_package(fastrtps REQUIRED)
+find_package(fastdds_statistics_backend REQUIRED)
+
+# Compile executable and link with dependencies
+add_executable(fastdds_monitor src/monitor.cpp)
+# Do not use ament as dependencies are not linked with ament
+target_link_libraries(fastdds_monitor fastrtps fastcdr fastdds_statistics_backend)
+
+# Install executable
+install(
+  TARGETS fastdds_monitor
+  DESTINATION lib/${PROJECT_NAME}
+)
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${dependencies})
+
+ament_package()

Dockerfile

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+FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v3.1.0
+
+# config dependencies install
+ARG DEBIAN_FRONTEND=noninteractive
+RUN echo -e '\
+APT::Install-Recommends "0";\n\
+APT::Install-Suggests "0";\n\
+' > /etc/apt/apt.conf.d/01norecommend
+
+ARG UNDERLAY_WS=/main_ws/underlay_ws
+ARG OVERLAY_WS=/main_ws/overlay_ws
+
+WORKDIR $UNDERLAY_WS
+COPY fastdds_statistics_backend.repos $UNDERLAY_WS/src/fastdds_monitor_tutorial/underlay.repos
+
+# Import the underlay dependencies that doesn't exist in SDK image
+RUN vcs import ./src/ < $UNDERLAY_WS/src/fastdds_monitor_tutorial/underlay.repos
+
+RUN ls -la $UNDERLAY_WS/src && \
+    . /usr/bin/ros_setup.bash && \
+    colcon build --cmake-args -DBUILD_TESTING=0
+
+RUN apt-get update && \
+    apt-get install -y \
+      nlohmann-json-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR $OVERLAY_WS
+
+COPY . $OVERLAY_WS/src/fastdds_monitor_tutorial
+
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    . /usr/bin/ros_setup.bash && \
+    colcon build --cmake-args -DBUILD_TESTING=0 && \
+    cp $OVERLAY_WS/install/fastdds_monitor_tutorial/lib/fastdds_monitor_tutorial/fastdds_monitor $OVERLAY_WS/
+
+ENTRYPOINT ["/bin/bash", "-c", ". /main_ws/overlay_ws/install/setup.bash && ros2 run fastdds_monitor_tutorial fastdds_monitor"]

fastdds_statistics_backend.repos

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+repositories:
+    # foonathan_memory_vendor:
+    #     type: git
+    #     url: https://github.com/eProsima/foonathan_memory_vendor.git
+    #     version: v1.3.0
+    # fastcdr:
+    #     type: git
+    #     url: https://github.com/eProsima/Fast-CDR.git
+    #     version: v1.0.27
+    # fastdds:
+    #     type: git
+    #     url: https://github.com/eProsima/Fast-DDS.git
+    #     version: v2.10.1
+    fastdds_statistics_backend:
+        type: git
+        url: https://github.com/eProsima/Fast-DDS-statistics-backend.git
+        version: v0.10.0
+    fastddsgen:
+        type: git
+        url: https://github.com/eProsima/Fast-DDS-Gen.git
+        version: v2.4.0
+    fastddsgen/thirdparty/idl-parser:
+        type: git
+        url: https://github.com/eProsima/IDL-Parser.git
+        version: v1.5.0

package.xml

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+<?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>fastdds_monitor_tutorial</name>
+  <version>0.0.0</version>
+  <description>First application as a ROS 2 package to monitor your ROS 2 deployment.</description>
+  <maintainer email="irenebandera@eprosima.com">Irene Bandera</maintainer>
+  <maintainer email="raul@eprosima.com">Raul Sanchez-Mateos Lizano</maintainer>
+  <license>Apache License, Version 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>fastcdr</depend>
+  <depend>fastrtps</depend>
+  <depend>fastdds_statistics_backend</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>