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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/VehicleOpticalFlowVel.msg
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uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne # same as vel_body but in local frame (m/s)
float32[2] flow_uncompensated_integral # integrated optical flow measurement (rad)
float32[2] flow_compensated_integral # integrated optical flow measurement compensated for angular motion (rad)
float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel