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