Add frequency to topic CLI.

[bperseghetti]

🦟 Bug fix

Fixes #

Summary

Adds frequency sampling to a topic through gz topic CLI.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[azeey]

Thanks for the contribution! In general, I would recommend using gz::math::SignalStats for all of this. I don't see examples or tutorials but here's a test that shows how to use it.

[bperseghetti]

Thanks for the contribution! In general, I would recommend using gz::math::SignalStats for all of this. I don't see examples or tutorials but here's a test that shows how to use it.

Is there an example of this functions performance vs a minimal operations oriented implementation like I provided? Mostly saying this because we use gz-transport on some very very very low compute systems to enable HIL, so if I can cut any extra ops anywhere, I prefer that. Especially something that can be tightly time bounded such as message transports.

[azeey]

Thanks for the contribution! In general, I would recommend using gz::math::SignalStats for all of this. I don't see examples or tutorials but here's a test that shows how to use it.

Is there an example of this functions performance vs a minimal operations oriented implementation like I provided? Mostly saying this because we use gz-transport on some very very very low compute systems to enable HIL, so if I can cut any extra ops anywhere, I prefer that. Especially something that can be tightly time bounded such as message transports.

The SignalStats would have similar performance as this implementation because it's doing essentially the same computations. The difference is that it doesn't store the interval data (see https://github.com/gazebosim/gz-math/blob/f0d4e59e66b54949937ceed725e50ba26177d667/src/SignalStats.cc#L81-L101). If having the intervals is important, you'd have to store them like you're doing here in addition to using SignalStats. If you prefer not to use SignalStats, I've made suggestions to avoid using raw for loops and indices where possible.

[azeey]

Looks good. Just a few nits

[azeey]

There are changes in the base branch, gz-transport13 that haven't been merged. That's why the ABI checker is failing. Can you merge and push?

[bperseghetti]

There are changes in the base branch, gz-transport13 that haven't been merged. That's why the ABI checker is failing. Can you merge and push?

rebased and pushed.

[azeey]

LGTM!