From 6cd29858a009a54c26144434b75acf7e35492fa5 Mon Sep 17 00:00:00 2001 From: Daniel Mesham Date: Wed, 7 Jun 2023 15:58:47 +0200 Subject: [PATCH] fake_ev: publish fake visual odometry on a distinct topic --- msg/VehicleOdometry.msg | 2 +- src/modules/fake_ev/fake_ev.hpp | 2 +- src/modules/uxrce_dds_client/dds_topics.yaml | 3 +++ 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/msg/VehicleOdometry.msg b/msg/VehicleOdometry.msg index fbdd1920e1..b16fff53cf 100644 --- a/msg/VehicleOdometry.msg +++ b/msg/VehicleOdometry.msg @@ -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 diff --git a/src/modules/fake_ev/fake_ev.hpp b/src/modules/fake_ev/fake_ev.hpp index 977d76d053..15f7669704 100644 --- a/src/modules/fake_ev/fake_ev.hpp +++ b/src/modules/fake_ev/fake_ev.hpp @@ -97,7 +97,7 @@ private: vehicle_odometry_s gpsToOdom(const sensor_gps_s &gps); - uORB::Publication _vehicle_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)}; + uORB::Publication _vehicle_visual_odometry_pub{ORB_ID(vehicle_fake_visual_odometry)}; uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)}; diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml index e6487731a2..811fd96988 100644 --- a/src/modules/uxrce_dds_client/dds_topics.yaml +++ b/src/modules/uxrce_dds_client/dds_topics.yaml @@ -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