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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

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- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
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msg/SensorCombined.msg
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# Sensor readings in SI-unit form.
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.
uint64 timestamp # time since system start (microseconds)
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.