From 6e7ed49ad366fdf8a8380f4247cd0212e1d9c117 Mon Sep 17 00:00:00 2001 From: PerFrivik Date: Fri, 1 Dec 2023 11:20:42 +0100 Subject: [PATCH] Differential Rover: Added logging and dds topics --- src/modules/logger/logged_topics.cpp | 1 + src/modules/uxrce_dds_client/dds_topics.yaml | 3 +++ 2 files changed, 4 insertions(+) diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 9981f359d4..d094077501 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -57,6 +57,7 @@ void LoggedTopics::add_default_topics() add_topic("commander_state"); add_topic("config_overrides"); add_topic("cpuload"); + add_topic("differential_drive_setpoint", 100); add_optional_topic("external_ins_attitude"); add_optional_topic("external_ins_global_position"); add_optional_topic("external_ins_local_position"); diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml index d751faa131..ed914bdabb 100644 --- a/src/modules/uxrce_dds_client/dds_topics.yaml +++ b/src/modules/uxrce_dds_client/dds_topics.yaml @@ -76,6 +76,9 @@ subscriptions: - topic: /fmu/in/register_ext_component_request type: px4_msgs::msg::RegisterExtComponentRequest + - topic: /fmu/in/differential_drive_setpoint + type: px4_msgs::msg::DifferentialDriveSetpoint + - topic: /fmu/in/unregister_ext_component type: px4_msgs::msg::UnregisterExtComponent