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dds_topics: set more sensible ROS2 publication rate limits

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This commit is contained in:
GuillaumeLaine
2025-05-27 17:32:22 +02:00
committed by Silvan Fuhrer
parent 2110da73ad
commit 17cadf7739
1 changed files with 16 additions and 0 deletions
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src/modules/uxrce_dds_client/dds_topics.yaml
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@@ -10,9 +10,11 @@ publications:
- topic: /fmu/out/arming_check_request - topic: /fmu/out/arming_check_request
type: px4_msgs::msg::ArmingCheckRequest type: px4_msgs::msg::ArmingCheckRequest
rate_limit: 5.
- topic: /fmu/out/mode_completed - topic: /fmu/out/mode_completed
type: px4_msgs::msg::ModeCompleted type: px4_msgs::msg::ModeCompleted
rate_limit: 50.
- topic: /fmu/out/battery_status - topic: /fmu/out/battery_status
type: px4_msgs::msg::BatteryStatus type: px4_msgs::msg::BatteryStatus
@@ -20,66 +22,80 @@ publications:
- topic: /fmu/out/collision_constraints - topic: /fmu/out/collision_constraints
type: px4_msgs::msg::CollisionConstraints type: px4_msgs::msg::CollisionConstraints
rate_limit: 50.
- topic: /fmu/out/estimator_status_flags - topic: /fmu/out/estimator_status_flags
type: px4_msgs::msg::EstimatorStatusFlags type: px4_msgs::msg::EstimatorStatusFlags
rate_limit: 5.
- topic: /fmu/out/failsafe_flags - topic: /fmu/out/failsafe_flags
type: px4_msgs::msg::FailsafeFlags type: px4_msgs::msg::FailsafeFlags
rate_limit: 5.
- topic: /fmu/out/manual_control_setpoint - topic: /fmu/out/manual_control_setpoint
type: px4_msgs::msg::ManualControlSetpoint type: px4_msgs::msg::ManualControlSetpoint
rate_limit: 25.
- topic: /fmu/out/message_format_response - topic: /fmu/out/message_format_response
type: px4_msgs::msg::MessageFormatResponse type: px4_msgs::msg::MessageFormatResponse
- topic: /fmu/out/position_setpoint_triplet - topic: /fmu/out/position_setpoint_triplet
type: px4_msgs::msg::PositionSetpointTriplet type: px4_msgs::msg::PositionSetpointTriplet
rate_limit: 5.
- topic: /fmu/out/sensor_combined - topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined type: px4_msgs::msg::SensorCombined
- topic: /fmu/out/timesync_status - topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus type: px4_msgs::msg::TimesyncStatus
rate_limit: 10.
# - topic: /fmu/out/vehicle_angular_velocity # - topic: /fmu/out/vehicle_angular_velocity
# type: px4_msgs::msg::VehicleAngularVelocity # type: px4_msgs::msg::VehicleAngularVelocity
- topic: /fmu/out/vehicle_land_detected - topic: /fmu/out/vehicle_land_detected
type: px4_msgs::msg::VehicleLandDetected type: px4_msgs::msg::VehicleLandDetected
rate_limit: 5.
- topic: /fmu/out/vehicle_attitude - topic: /fmu/out/vehicle_attitude
type: px4_msgs::msg::VehicleAttitude type: px4_msgs::msg::VehicleAttitude
- topic: /fmu/out/vehicle_control_mode - topic: /fmu/out/vehicle_control_mode
type: px4_msgs::msg::VehicleControlMode type: px4_msgs::msg::VehicleControlMode
rate_limit: 50.
- topic: /fmu/out/vehicle_command_ack - topic: /fmu/out/vehicle_command_ack
type: px4_msgs::msg::VehicleCommandAck type: px4_msgs::msg::VehicleCommandAck
- topic: /fmu/out/vehicle_global_position - topic: /fmu/out/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition type: px4_msgs::msg::VehicleGlobalPosition
rate_limit: 50.
- topic: /fmu/out/vehicle_gps_position - topic: /fmu/out/vehicle_gps_position
type: px4_msgs::msg::SensorGps type: px4_msgs::msg::SensorGps
rate_limit: 50.
- topic: /fmu/out/vehicle_local_position - topic: /fmu/out/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition type: px4_msgs::msg::VehicleLocalPosition
rate_limit: 50.
- topic: /fmu/out/vehicle_odometry - topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_status - topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus type: px4_msgs::msg::VehicleStatus
rate_limit: 5.
- topic: /fmu/out/airspeed_validated - topic: /fmu/out/airspeed_validated
type: px4_msgs::msg::AirspeedValidated type: px4_msgs::msg::AirspeedValidated
rate_limit: 50.
- topic: /fmu/out/vtol_vehicle_status - topic: /fmu/out/vtol_vehicle_status
type: px4_msgs::msg::VtolVehicleStatus type: px4_msgs::msg::VtolVehicleStatus
- topic: /fmu/out/home_position - topic: /fmu/out/home_position
type: px4_msgs::msg::HomePosition type: px4_msgs::msg::HomePosition
rate_limit: 5.
# Create uORB::Publication # Create uORB::Publication
subscriptions: subscriptions: