mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 09:47:36 +08:00
Daniel Agar
cea185268e
- 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)
87 lines
2.3 KiB
YAML
87 lines
2.3 KiB
YAML
#####
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#
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# This file maps all the topics that are to be used on the micro DDS client.
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#
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#####
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publications:
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- topic: /fmu/out/collision_constraints
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type: px4_msgs::msg::CollisionConstraints
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- topic: /fmu/out/failsafe_flags
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type: px4_msgs::msg::FailsafeFlags
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- topic: /fmu/out/sensor_combined
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type: px4_msgs::msg::SensorCombined
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- topic: /fmu/out/timesync_status
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type: px4_msgs::msg::TimesyncStatus
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# - topic: /fmu/out/vehicle_angular_velocity
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# type: px4_msgs::msg::VehicleAngularVelocity
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- topic: /fmu/out/vehicle_attitude
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type: px4_msgs::msg::VehicleAttitude
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- topic: /fmu/out/vehicle_control_mode
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type: px4_msgs::msg::VehicleControlMode
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- topic: /fmu/out/vehicle_global_position
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type: px4_msgs::msg::VehicleGlobalPosition
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- topic: /fmu/out/vehicle_gps_position
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type: px4_msgs::msg::SensorGps
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- topic: /fmu/out/vehicle_local_position
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type: px4_msgs::msg::VehicleLocalPosition
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- topic: /fmu/out/vehicle_odometry
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type: px4_msgs::msg::VehicleOdometry
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- topic: /fmu/out/vehicle_status
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type: px4_msgs::msg::VehicleStatus
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- topic: /fmu/out/vehicle_trajectory_waypoint_desired
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type: px4_msgs::msg::VehicleTrajectoryWaypoint
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subscriptions:
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- topic: /fmu/in/offboard_control_mode
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type: px4_msgs::msg::OffboardControlMode
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- topic: /fmu/in/onboard_computer_status
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type: px4_msgs::msg::OnboardComputerStatus
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- topic: /fmu/in/obstacle_distance
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type: px4_msgs::msg::ObstacleDistance
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- topic: /fmu/in/sensor_optical_flow
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type: px4_msgs::msg::SensorOpticalFlow
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- topic: /fmu/in/telemetry_status
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type: px4_msgs::msg::TelemetryStatus
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- topic: /fmu/in/trajectory_setpoint
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type: px4_msgs::msg::TrajectorySetpoint
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- topic: /fmu/in/vehicle_attitude_setpoint
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type: px4_msgs::msg::VehicleAttitudeSetpoint
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- topic: /fmu/in/vehicle_mocap_odometry
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type: px4_msgs::msg::VehicleOdometry
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- topic: /fmu/in/vehicle_rates_setpoint
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type: px4_msgs::msg::VehicleRatesSetpoint
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- topic: /fmu/in/vehicle_visual_odometry
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type: px4_msgs::msg::VehicleOdometry
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- topic: /fmu/in/vehicle_command
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type: px4_msgs::msg::VehicleCommand
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- topic: /fmu/in/vehicle_trajectory_bezier
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type: px4_msgs::msg::VehicleTrajectoryBezier
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- topic: /fmu/in/vehicle_trajectory_waypoint
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type: px4_msgs::msg::VehicleTrajectoryWaypoint
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