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TSC21
c478e2985a
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.
90 lines
3.1 KiB
YAML
90 lines
3.1 KiB
YAML
#####
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#
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# This file maps all the topics that are to be used on the microRTPS bridge.
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# When one wants to add a new topic to the bridge, it should add it to this file
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# and mark it to be sent or received from the link.
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# For alias/multi-topic messages (i.e. the ones found on the '#TOPICS' of the
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# uORB messages), these can be also added, requiring an extra entry ('base') to
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# define the base message.
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#
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# IMPORTANT NOTICE: The IDs of the messages sent on the bridge get generated
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# according to the order of the messages in this file. To keep consistency and
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# backwards compatibility, it is recommended that any new message that one wants
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# to be streamed in the bridge gets added to the end of the list. Any changes
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# in the middle of the list (additions, removals, replacements) will change also
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# the current message IDS, which might result with incompatibilities with
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# previous PX4 versions (where the list with this format got introduced or
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# subsisted).
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#
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# Any updates to this file should be mirrored in both sides of the bridge (i.e.,
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# PX4 and px4_ros_com), when using it with ROS2. That can be easily done using
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# the 'msg/tools/uorb_to_ros_urtps_topics.py' script to regenerate this same
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# file under 'px4_ros_com/templates/''. The same is not applicable/required if
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# using this bridge with "raw" RTPS/DDS applications, since the microRTPS agent
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# to be used and stored in 'build/<px4_target>/src/modules/micrortps_bridge/''
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# gets generated using this same list.
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#
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#####
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rtps:
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# topic ID 1
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- msg: debug_array
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receive: true
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# topic ID 2
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- msg: debug_key_value
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receive: true
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# topic ID 3
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- msg: debug_value
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receive: true
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# ...
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- msg: debug_vect
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receive: true
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- msg: offboard_control_mode
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receive: true
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- msg: optical_flow
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receive: true
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- msg: position_setpoint
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receive: true
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- msg: position_setpoint_triplet
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receive: true
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- msg: telemetry_status
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receive: true
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- msg: timesync
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receive: true
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send: true
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- msg: trajectory_waypoint
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send: true
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- msg: vehicle_command
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receive: true
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- msg: vehicle_control_mode
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send: true
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- msg: vehicle_local_position_setpoint
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receive: true
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- msg: trajectory_setpoint # multi-topic / alias of vehicle_local_position_setpoint
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base: vehicle_local_position_setpoint
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receive: true
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- msg: vehicle_odometry
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send: true
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- msg: vehicle_mocap_odometry # multi-topic / alias of vehicle_odometry
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base: vehicle_odometry
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receive: true
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- msg: vehicle_visual_odometry # multi-topic / alias of vehicle_odometry
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base: vehicle_odometry
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receive: true
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- msg: vehicle_status
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send: true
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- msg: vehicle_trajectory_waypoint
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receive: true
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- msg: vehicle_trajectory_waypoint_desired # multi-topic / alias of vehicle_trajectory_waypoint
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base: vehicle_trajectory_waypoint
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send: true
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- msg: collision_constraints
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send: true
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- msg: onboard_computer_status
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receive: true
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- msg: trajectory_bezier
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receive: true
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- msg: vehicle_trajectory_bezier
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receive: true
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- msg: timesync_status
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send: true
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