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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/VehicleImuStatus.msg
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uint64 timestamp # time since system start (microseconds)
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
uint32[3] accel_clipping # total clipping per axis
uint32[3] gyro_clipping # total clipping per axis
uint32 accel_error_count
uint32 gyro_error_count
float32 accel_rate_hz
float32 gyro_rate_hz
float32 accel_raw_rate_hz # full raw sensor sample rate (Hz)
float32 gyro_raw_rate_hz # full raw sensor sample rate (Hz)
float32 accel_vibration_metric # high frequency vibration level in the accelerometer data (m/s/s)
float32 gyro_vibration_metric # high frequency vibration level in the gyro data (rad/s)
float32 delta_angle_coning_metric # average IMU delta angle coning correction (rad^2)
float32[3] mean_accel # average accelerometer readings since last publication
float32[3] mean_gyro # average gyroscope readings since last publication
float32[3] var_accel # accelerometer variance since last publication
float32[3] var_gyro # gyroscope variance since last publication
float32 temperature_accel
float32 temperature_gyro