Injector implementation

[gabrielbfranca]

The Injector component is responsible for:

1. Uncertainty Generation:

   • Creates controlled disturbances to simulate real-world issues (sensor noise, failures)
   • Supports multiple disturbance patterns (step, ramp, random)
   • Controls amplitude, frequency, and duration of disturbances

2. Targeted Component Injection:

   • Directs uncertainties to specific system components
   • Publishes to component-specific uncertainty topics
   • Logs all injected uncertainties for analysis

3. Simulation Control:

   • Uses time-based activation schedules for disturbances
   • Converts between seconds and execution cycles
   • Tracks execution cycles for timing control

4. Configuration:

   • Loads simulation parameters from ROS parameter server
   • Configures multiple components' uncertainty profiles independently