microRTPS: add timesync for the agent side

msg/tools/generate_microRTPS_bridge.py

@@ -416,6 +416,8 @@ def generate_agent(out_dir):
         shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
     cp_wildcard(os.path.join(urtps_templates_dir,
                              "microRTPS_transport.*"), agent_out_dir)
+    cp_wildcard(os.path.join(urtps_templates_dir,
+                             "microRTPS_timesync.*"), agent_out_dir)
     if cmakelists:
         os.rename(os.path.join(out_dir, "microRTPS_agent_CMakeLists.txt"),
                   os.path.join(out_dir, "CMakeLists.txt"))
@@ -457,6 +459,12 @@ def generate_client(out_dir):
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
         def_file = os.path.join(default_client_out, "microRTPS_transport.h")
+        if os.path.isfile(def_file):
+            os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
+        def_file = os.path.join(default_client_out, "microRTPS_timesync.cpp")
+        if os.path.isfile(def_file):
+            os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
+        def_file = os.path.join(default_client_out, "microRTPS_timesync.h")
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".h", ".h_"))
 
@@ -466,6 +474,8 @@ def generate_client(out_dir):
     # Final steps to install client
     cp_wildcard(os.path.join(urtps_templates_dir,
                              "microRTPS_transport.*"), out_dir)
+    cp_wildcard(os.path.join(urtps_templates_dir,
+                             "microRTPS_timesync.*"), out_dir)
 
     return 0
 

msg/tools/uorb_rtps_message_ids.yaml

@@ -177,8 +177,10 @@ rtps:
     id: 76
   - msg: test_motor
     id: 77
-  - msg: timesync_status
+  - msg: timesync
     id: 78
+    receive: true
+    send: true
   - msg: trajectory_waypoint
     id: 79
     receive: true