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fake_ev: publish fake visual odometry on a distinct topic

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This commit is contained in:
Daniel Mesham
2023-06-09 11:55:15 +02:00
committed by Mathieu Bresciani
parent 18d94fd11e
commit 6cd29858a0
3 changed files with 5 additions and 2 deletions
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msg/VehicleOdometry.msg
+1 -1
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@@ -27,5 +27,5 @@ float32[3] velocity_variance
uint8 reset_counter
int8 quality
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry vehicle_fake_visual_odometry
# TOPICS estimator_odometry
src/modules/fake_ev/fake_ev.hpp
+1 -1
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@@ -97,7 +97,7 @@ private:
vehicle_odometry_s gpsToOdom(const sensor_gps_s &gps);
uORB::Publication<vehicle_odometry_s> _vehicle_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
uORB::Publication<vehicle_odometry_s> _vehicle_visual_odometry_pub{ORB_ID(vehicle_fake_visual_odometry)};
uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
src/modules/uxrce_dds_client/dds_topics.yaml
+3
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@@ -53,6 +53,9 @@ publications:
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_fake_visual_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus