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ucrxe_dds_client: Implement simple parameter-driven message namespace (#25444)

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* ucrxe_dds_client: Implement simple parameter-driven message namespace

* chore: remove change of parameter_reference.md

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
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2025-09-20 16:32:00 +01:00
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co-authored by Beniamino Pozzan
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commit b081cf5c31
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docs/en/middleware/uxrce_dds.md
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@@ -274,6 +274,9 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
- [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
- [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
::: info
Many ports are already have a default configuration.
@@ -347,7 +350,7 @@ Therefore,
## Customizing the Namespace
Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):
Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)), at runtime, or through a parameter (which is useful for multi vehicle operations):
- One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
This technique can be used both in simulation and real vehicles.
@@ -376,6 +379,22 @@ will generate topics under the namespaces:
:::
- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999.
This will generate a namespace such as `/uav_0`, `/uav_1`, and so on.
This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4.
::: info
PX4 parameters cannot carry rich text strings.
Therefore, you cannot use [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to automatically start a client with an arbitrary message namespace through PX4.
You can however specify a namespace when starting the client, using the `-n` argument:
```sh
# In etc/extras.txt on the MicroSD card
uxrce_dds_client start -n fancy_uav
```
This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
## PX4 ROS 2 QoS Settings
PX4 QoS settings for publishers are incompatible with the default QoS settings for ROS 2 subscribers.