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138 Commits

Author SHA1 Message Date
Thomas Schneider
cd66a262ee Robustify RTPS bridge stream parsing. 2022-07-20 01:13:47 -04:00
Beat Küng
f76086ffa1 microRTPS_agent_CMakeLists.txt.em: add install section 2021-12-10 09:03:08 -05:00
Beat Küng
00d939995b fix micrortps_transport: set poll fd when baudrate is 0 2021-08-22 10:42:13 -04:00
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21953daa3b microRTPS: transport: fix UART configuration 2021-08-12 08:44:53 +02:00
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4b6646c5f3 microRTPS: transport: normalize configs with mavlink/mavlink-router 2021-08-12 08:44:53 +02:00
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af8a6117fa microRTPS: agent: add missing 'g' option 2021-08-12 08:44:53 +02:00
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8762dce762 microRTPS: transport: small format fix 2021-08-12 08:44:53 +02:00
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fae1627d92 microRTPS: client: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
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109b031156 microRTPS: agent: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
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0b23679f98 msg: templates: update empy contexts, required fields and license header years 2021-08-12 08:44:53 +02:00
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c478e2985a microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic 
1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
 2021-08-12 08:44:53 +02:00
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ba3dbbd38d microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB 
This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).
 2021-08-12 08:44:53 +02:00
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25dbffe1aa microRTPS: agent: split FMU input from output topics in Pubs/Subs 2021-08-12 08:44:53 +02:00
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d31b7feb31 microRTPS: agent: publish timesync status 2021-08-12 08:44:53 +02:00
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6d4f65a47a microRTPS: allow timesync using ROS time 2021-08-12 08:44:53 +02:00
Julian Oes
0c9fefce32 urtps: rectify comment 2021-08-12 08:44:53 +02:00
Oleg
8fbbf56c4d microRTPS: fix setting UART communication flags 
bitwise not should be used instead of logical not
 2021-07-20 12:34:58 +02:00
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0c5f2d3b8c microRTPS: add missing header for PRIu32 and PRIu16 macros 
Co-authored-by: squizz617 <seulbae@gatech.edu>
 2021-06-21 16:36:44 +02:00
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084a992572 microRTPS: agent: only allow to whitelist the localhost when using FastDDS as the rmw 2021-06-21 16:36:44 +02:00
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79f7986715 apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw 2021-06-21 16:36:44 +02:00
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d3a23cee40 microRTPS: agent: fix double free memory problem on SIGINT 
It fixes also some minor issues when exiting the agent, including the printed stats
 2021-06-21 16:36:44 +02:00
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f2fad6d966 microRTPS: by default, when FastDDS >= 2.0, enable Shared Memory transport for the agent participants when the localhost network is enabled 2021-06-21 16:36:44 +02:00
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63571b3e3f microRTPS: agent: match the code style from the PX4 Firmware 2021-06-21 16:36:44 +02:00
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323ce797f8 microRTPS: allow communications only in the localhost network when ROS_LOCALHOST_ONLY env variable is set 2021-06-21 16:36:44 +02:00
David Sidrane
026d36dee8 microRTPS:Use inttypes 2021-06-16 17:07:47 +02:00
Damien SIX
e4f235001b fix timesync for timestamp sample (including SFINAE detection) 2021-05-16 13:15:37 -04:00
Barcis, Michal
7053919a9f fixed micrortps_agent usage description 2021-04-13 21:28:27 +02:00
Julian Kent
c1cb964c2a RTPS timesync don't use MONOTONIC_RAW 2021-03-31 13:25:27 +02:00
Ildar Sadykov
51dd141c86 RTPS: adjust timestamp_sample in urtps_agent 2021-02-17 13:19:05 +01:00
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3f1c303b16 msg: rtps: improve verbosity when the the agent is not capable of parsing a specific ID 2021-01-10 22:22:22 +01:00
Jukka Laitinen
fdb4ede6c2 Add topic namespace support for micrortps agent generation 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2020-11-26 12:34:56 +00:00
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98f53c2bc4 microRTPS: extend verbose arg to the timesync 2020-08-28 09:22:36 +02:00
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603a4d8955 microRTPS: transport: fix parsing 2020-08-28 09:22:36 +02:00
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a091a70470 microRTPS: split the microRTPS client and agent dest directories for better visbility and handling 2020-08-18 17:16:04 +02:00
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398f104918 microRTPS: transport: do not discard message from rx_buffer if a CRC error occurs 2020-07-31 14:13:10 +01:00
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1ab193f548 microRTPS: remove the need for the eClock util 2020-07-31 14:13:10 +01:00
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3db9307dfb microRTPS: transport: make seq_number non-atomic 2020-07-31 14:13:10 +01:00
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08e72b29b3 microRTPS: micrortps_timesync: reduce max RTTI to 50ms 2020-07-31 14:13:10 +01:00
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c01bcd41f7 microRTPS: minor adjustements so to improve the readings; add more baud rate options 
Co-authored-by: Andrew Wedemier <andrew.wedemier@gmail.com>
 2020-07-31 14:13:10 +01:00
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0124ca6e41 microRTPS: add debug verbose option '-v'; use while loop for reads; ease the RTTI check on timesync 2020-07-31 14:13:10 +01:00
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2f4eff4c38 microRTPS: add possibility to set HW or SW flow control; improve verbosity aesthetics 2020-07-31 14:13:10 +01:00
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b2845c60d3 microRTPS: move buffer size to transport 2020-07-31 14:13:10 +01:00
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407bd8860f microRTPS: transport: hotfix to skip data packets that that don't fit the buffer and continue the readings 2020-07-31 14:13:10 +01:00
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25d2236cce microRTPS: fix FastRTPS version check on agent templates 2020-07-31 14:13:10 +01:00
stmoon
71b7647ca1 fix the return type problem of RTPS 2020-07-27 16:22:46 +01:00
stmoon
4418179a92 fix the fastrtps version problem in case of v1.10.0 2020-07-15 16:30:58 +01:00
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dc69d99764 add support to FastRTPS 2.0.0 (Fast-DDS) 2020-06-29 22:56:00 +02:00
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4f718086ea microRTPS: fix topic name when ROS2 is not being used 2020-04-07 16:34:30 +01:00
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2020b77a43 microRTPS: use FastRTPSGen '-typeros2' option to generate the typenaming required to interface the bridge with ROS2 topics 2020-04-02 14:28:38 +01:00
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c4f8f39ca9 microRTPS: templates: use full version comparison when checking for version 1.7 2020-03-24 17:47:39 +00:00