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91 lines
3.2 KiB
91 lines
3.2 KiB
##### |
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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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- msg: sensor_combined |
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send: true
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