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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/SensorCorrection.msg
+32
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#
# Sensor corrections in SI-unit form for the voted sensor
#
uint64 timestamp # time since system start (microseconds)
# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] gyro_device_ids
float32[4] gyro_temperature
float32[3] gyro_offset_0 # gyro 0 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_1 # gyro 1 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_2 # gyro 2 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_3 # gyro 3 XYZ offsets in the sensor frame in rad/s
# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] accel_device_ids
float32[4] accel_temperature
float32[3] accel_offset_0 # accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_1 # accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_2 # accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s
float32[3] accel_offset_3 # accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s
# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
uint32[4] baro_device_ids
float32[4] baro_temperature
float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pascals
float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals
float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals
float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals