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25 Commits
Author SHA1 Message Date
Beniamino Pozzan 2363c03bfe [uxrce_dds_client] wait for Timesync to converge 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Beniamino Pozzan f01400de81 [uxrce_dds_client] Fix debug string format - use PRId64 and llabs 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-27 21:10:26 -05:00
Beniamino Pozzan 742d237ae3 [uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint 
actuator_motors and actuator_servos subscribers for offboard control

Being subscribers, this does not increase the computational load
over the uxrce_dds brigde

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-22 22:14:50 -05:00
Jacob Dahl 6cc38776c8 src/modules/uxrce_dds_client: set system clock from agent CLOCK_REALTIME (#22290) 
* Added parameter UXRCE_DDS_SYNCC to enable system clock synchronization. Refactored and cleaned up. Only set system time if it's off by more than 5 seconds (same as mavlink and gps).
 2023-11-22 22:06:11 -05:00
GuillaumeLaine ab867b963c dds_topics: Adds missing data reader 2023-11-22 10:42:05 +00:00
GuillaumeLaine f3e85219a3 dds_topics: Adds handling for empty yaml fields 2023-11-22 10:42:05 +00:00
GuillaumeLaine 85c75aedd1 dds_topics: Adds multi publication to subscribed dds topics 2023-11-22 10:42:05 +00:00
Braden Wagstaff 35e13a908e DDS Add battery_status publisher 2023-11-18 11:06:02 +00:00
alexklimaj 42d70808e9 uxrce add manual control input subscriber 2023-11-18 11:06:02 +00:00
Beat Küng d12a7dd11d uxrce_dds_client: run session until we do not get data anymore 
Otherwise there can be significant delay for received data
 2023-11-15 13:18:58 +01:00
Beat Küng 22acb08406 uorb: add message format compatibility check 
This can be used by DDS/ROS 2 to check for matching message definitions.
 2023-11-15 13:18:58 +01:00
Beat Küng b46e1d744b commander: add config overrides 2023-11-15 13:18:58 +01:00
Beat Küng fbbccf6997 commander: implement external modes and mode executors 2023-11-15 13:18:58 +01:00
Beniamino Pozzan 58d2badf9f [uxrce_dds_client] add services (repliers) and basic VehicleCommand service 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
 2023-11-14 11:29:17 -05:00
Serkan Mazlum 585687b766 generate_dds_topics.py: simplify repeated code (#22156) 2023-10-10 08:12:55 +02:00
Daniel Mesham f02c5319bc uxrce_dds_client: add participant configuration parameter 
Replaces the localhost-only and custom participant CLI flags
 2023-10-05 08:03:21 +02:00
Daniel Mesham 45fd4d2fb6 uxrce_dds_client: reformat status output 
* Align status values.
* Add indicators for the custom participant and localhost-only flags.
 2023-10-05 08:03:21 +02:00
Daniel Mesham 0a5ca3bb75 uxrce_dds_client: update parameter descriptions 2023-10-05 08:03:21 +02:00
Jari Nippula 7239e8473e microxrce_client to use px4_poll for uorb subs 
Subscribe to poll uorbs instead of sleeping px4_usleep to
allow more accurate timing.
 2023-09-21 08:30:28 -04:00
Beat Küng d4c7ea74ef refactor uxrce_dds_client: reduce amount of generated code for SendTopicsSubs 
Reduces flash usage by ~4KB for current set of topics.
 2023-08-21 20:56:08 -04:00
Beat Küng 02a6640000 fix uxrce_dds_client: apparently we cannot use the upper 4 bits for ID's 2023-08-08 10:59:34 +02:00
hskrieg 64c21ad428 uorb: allow for more than 255 uORB messages 
Increased size for ORB_ID from uint8_t to uint16_t

Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
 2023-08-08 10:59:34 +02:00
Beniamino Pozzan b9667e955d [uxrce-dds-client]: add parameter to disable time synchronization between Agent and Client 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-07-26 09:16:29 -04:00
Beat Küng 65ad6afb08 Micro-XRCE-DDS-Client: update submodule 
Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359.
 2023-06-19 16:05:36 -04:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00