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62 Commits

Author SHA1 Message Date
mahima-yoga
4896099232 dds: rate_limit /fmu/out/wind to 1Hz 2025-07-14 16:12:00 +02:00
mahima-yoga
fcbe017221 dds: add Wind topic to dds bridge 2025-07-14 16:12:00 +02:00
chfriedrich98
90a4b4798d rover: expose rover messages to DDS 2025-07-09 08:58:13 +02:00
GuillaumeLaine
17cadf7739 dds_topics: set more sensible ROS2 publication rate limits 2025-06-02 12:01:40 +02:00
GuillaumeLaine
e1167f0888 dds_topics: rate limit BatteryStatus ROS2 publication to 1 Hz 2025-05-27 13:21:56 +02:00
GuillaumeLaine
238dffcd1b uxrce_client: add option to set polling rate limit per topic 2025-05-27 13:21:56 +02:00
Silvan
ea94bc11eb DDS topics: add FW highlevel interfaces 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
Alexander Lerach
134ee7b640 dds: clean up timesync 2025-05-23 11:30:55 +02:00
Beat Küng
6fcfd5fac1 uxrce_dds_client: immediately create data writers on startup 
There is some race condition where in rare cases the topic publication
right after creating the writer did not get received on the ROS side.
This happens even with reliable QoS & reliable transport.
 2025-04-04 09:12:53 +02:00
Balduin
898d631b24 dds_topics: add vtol_vehicle_status 2025-03-27 09:29:54 +01:00
Balduin
fdebdc447d dds_topics: add home_position 2025-03-24 09:34:51 +01:00
Silvan
b916a96e00 Remove uorb topics exclusively used for avoidance 
- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg

Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.

Signed-off-by: Silvan <silvan@auterion.com>
 2025-02-18 14:33:16 +01:00
Alexander Lerach
430be08131
Add payload tx/rx timeouts to DDS 
* Add tx/rx timeouts

* Code style & tx default timeout

* Clarify TX/RX disable value
 2025-02-14 14:54:42 +01:00
Beat Küng
975ec30c9c uxrce_dds_client: add DDS message versioning 
This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message
contains a MESSAGE_VERSION field (and the version is non-zero).
 2025-02-11 13:19:25 +01:00
Bertug Dilman
ce64263ce7
publish validated airspeed topic (#24302) 
* publish validated airspeed topic

* fix typo
 2025-02-07 14:44:48 +01:00
Andrew Brahim
e7145e7b44
uxrce_dds_client: include distance sensor in dds_topics.yaml 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2024-12-17 22:28:40 -05:00
GuillaumeLaine
4d62522942 uxrce_dds_client: remove unused msgdir arg from script 2024-12-13 16:34:37 +01:00
Daniel Agar
990b067b25 uxrce_dds_client: update cmake requirements to match Micro-XRCE-DDS-Client submodule 2024-11-27 14:09:13 -08:00
Daniel Agar
a2156244d3 uxrce_dds_client: CMakeLists.txt cleanup 
- common variable for Micro-XRCE-DDS-Client
 - don't mix tabs and spaces
 - px4 module include all dependencies
 2024-11-12 21:20:54 -05:00
Alexander Lerach
fbbfcdb7a6
uxrce_dds_client - Fix nullptr access in certain cleanup situations (#23913) 
* Only close initialized objects

* Added err log in case of no ping

* Added err log in case of timesync timeout
 2024-11-11 14:23:46 +01:00
Alexander Lerach
224aef142c
Retry logic in uxrce_dds_client startup (#23723) 
* Added retries if uxrce_dds_client fails during setup

* Break timesync endless loop in case of agent reset

* ORB unsubscribe, to avoid too many open fails with multiple reconnects & format

* Added review feedback
 2024-09-26 17:43:49 +02:00
chfriedrich98
33d99a13e8
differential: restructure and update module (#23430) 
* differential: rename module

* differential: restructure and update module
 2024-08-07 09:53:37 +02:00
Patrik Dominik Pordi
8070c70f2c
uxrce_dds_client: dds_topics.yaml add vehicle_land_detected 
- px4_msgs::msg::VehicleLandDetected has been added to dds_topics.yaml
 2024-06-27 01:10:04 -04:00
Konrad
17916b7fdc uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream 2024-05-15 11:07:01 -04:00
Benjamin Philipp Ketterer
5d025e6d3d increased uxrce-dds stack size to prevent overflow 2024-05-07 21:13:58 -04:00
Daniel Agar
a1cce7e961 uxrce_dds_client: optimizations and instrumentation 
- skip ping session if data flowing bidirectionally
 - add perf counters for loop time and interval
 - skip blocking poll if there's input data to read
 2024-03-12 16:22:26 -04:00
Daniel Agar
b115d3cd44 uxrce_dds_client: refactor init to retry indefinitely 
- move init from UxrceddsClient to init() method so that retry is
   possible for both serial and UDP init
 2024-03-12 16:22:26 -04:00
Eric Katzfey
57df7e35b2
uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815) 
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2024-03-08 16:28:24 -05:00
Matthias Grob
396ef222ee DifferentialDrive: Rework structure 
3 Components Guidance - Control - Allocation
with their corresponding uORB interface.
 2024-02-12 14:29:10 +01:00
Matthias Grob
fc90e235f1 Rename differential drive setpoint topics 2024-02-12 14:29:10 +01:00
PerFrivik
e457a5baed Differential Drive Guidance: Add guidance 
also add dependency on control allocation parameter CA_R_REV

Differential Drive Guidance: Added mission logic

Differential Drive Guidance

Differential Drive Guidance

Differential Guidance: Inlcude library

Differential Guidance: Compiles, does not work though

Differential Guidance: Works somewhat

Differential Guidance: Temp

Differential Guidance: Tuning

Differeital Drive Guidance: Remove waypoint mover

Differential Guidance: Fixed accuracy issue by converting from float to double

Differential Guidance: rebased on differentialdrive and improved waypoint accuracy

Temp

Differential Guidance: cleanup

temp
 2024-02-12 14:29:10 +01:00
Matthias Grob
3de5c609a4 Differential Rover: PR fixes 2023-12-21 16:27:53 +01:00
PerFrivik
1e7ce32480 Differential Rover: Added logging and dds topics 2023-12-21 16:27:53 +01:00
GuillaumeLaine
942b6700a1 dds_topics: export estimator_status_flags 2023-12-12 14:43:07 -05:00
bresch
fe7988672f ekf2: auxiliary position fusion 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-12-01 11:50:22 +01:00
Thomas Stastny
e47aba8bc9 msg: add go-to setpoint interface 2023-11-30 17:16:02 +01:00
Jacob Dahl
e627fe01dc UXRCE_DDS_SYNCC default 0 2023-11-29 20:53:01 -05:00
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