From b7702d36045aa9a227faed2190edffc0a10c6fb8 Mon Sep 17 00:00:00 2001 From: GuillaumeLaine Date: Fri, 23 May 2025 12:39:00 +0200 Subject: [PATCH] docs: uxrce_dds rate_limit option --- docs/en/middleware/uxrce_dds.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docs/en/middleware/uxrce_dds.md b/docs/en/middleware/uxrce_dds.md index 1872c447d3..c24b67fa1e 100644 --- a/docs/en/middleware/uxrce_dds.md +++ b/docs/en/middleware/uxrce_dds.md @@ -428,9 +428,11 @@ publications: - topic: /fmu/out/vehicle_odometry type: px4_msgs::msg::VehicleOdometry + rate_limit: 150. - topic: /fmu/out/vehicle_status type: px4_msgs::msg::VehicleStatus + rate_limit: 50. - topic: /fmu/out/vehicle_trajectory_waypoint_desired type: px4_msgs::msg::VehicleTrajectoryWaypoint @@ -465,6 +467,8 @@ Each (`topic`,`type`) pairs defines: - `/fmu/out/` for topics that are _published_ by PX4. - `/fmu/in/` for topics that are _subscribed_ by PX4. 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition. +5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2. + If left unspecified, the maximum publication rate limit is set to 100 Hz. `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively. Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.