AP_DDS: update topic names

- Change to lower case and prefix with /ap

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

libraries/AP_DDS/README.md

@@ -146,19 +146,22 @@ After your setups are complete, do the following:
 
   $ ros2 topic list  -v
   Published topics:
-   * /ROS2_NavSatFix0 [sensor_msgs/msg/NavSatFix] 1 publisher
+  * /ap/battery/battery0 [sensor_msgs/msg/BatteryState] 1 publisher
-   * /ROS2_Time [builtin_interfaces/msg/Time] 1 publisher
+  * /ap/clock [builtin_interfaces/msg/Time] 1 publisher
+  * /ap/navsat/navsat0 [sensor_msgs/msg/NavSatFix] 1 publisher
+  * /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher
+  * /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher
   * /parameter_events [rcl_interfaces/msg/ParameterEvent] 1 publisher
   * /rosout [rcl_interfaces/msg/Log] 1 publisher
-   * /tf [tf2_msgs/msg/TFMessage] 1 publisher
 
   Subscribed topics:
 
-  $ ros2 topic hz /ROS2_Time
+
+  $ ros2 topic hz /ap/clock
   average rate: 50.115
           min: 0.012s max: 0.024s std dev: 0.00328s window: 52
 
-  $ ros2 topic echo /ROS2_Time 
+  $ ros2 topic echo /ap/clock 
   sec: 1678668735
   nanosec: 729410000
   ---
@@ -166,7 +169,7 @@ After your setups are complete, do the following:
 
   The static transforms for enabled sensors are also published, and can be recieved like so:
   ```console
-  ros2 topic echo /tf --qos-depth 1 --qos-history keep_last --qos-reliability reliable --qos-durability transient_local --once
+  ros2 topic echo /ap/tf_static --qos-depth 1 --qos-history keep_last --qos-reliability reliable --qos-durability transient_local --once
   ```
   In order to consume the transforms, it's highly recommended to [create and run a transform broadcaster in ROS 2](https://docs.ros.org/en/humble/Concepts/About-Tf2.html#tutorials). 
 

libraries/AP_DDS/dds_xrce_profile.xml

@@ -6,7 +6,7 @@
     </rtps>
   </participant>
   <topic profile_name="time__t">
-    <name>rt/ROS2_Time</name>
+    <name>rt/ap/clock</name>
     <dataType>builtin_interfaces::msg::dds_::Time_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -22,7 +22,7 @@
     </qos>
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/ROS2_Time</name>
+      <name>rt/ap/clock</name>
       <dataType>builtin_interfaces::msg::dds_::Time_</dataType>
       <historyQos>
         <kind>KEEP_LAST</kind>
@@ -31,7 +31,7 @@
     </topic>
   </data_writer>
   <topic profile_name="navsatfix0__t">
-    <name>rt/ROS2_NavSatFix0</name>
+    <name>rt/ap/navsat/navsat0</name>
     <dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -50,7 +50,7 @@
     </qos>
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/ROS2_NavSatFix0</name>
+      <name>rt/ap/navsat/navsat0</name>
       <dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
       <historyQos>
         <kind>KEEP_LAST</kind>
@@ -59,7 +59,7 @@
     </topic>
   </data_writer>
   <topic profile_name="statictransforms__t">
-    <name>rt/tf</name>
+    <name>rt/ap/tf_static</name>
     <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -78,7 +78,7 @@
     </qos>
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/tf</name>
+      <name>rt/ap/tf_static</name>
       <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
       <historyQos>
         <kind>KEEP_LAST</kind>
@@ -87,7 +87,7 @@
     </topic>
   </data_writer>
   <topic profile_name="batterystate0__t">
-    <name>rt/ROS2_BatteryState0</name>
+    <name>rt/ap/battery/battery0</name>
     <dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -106,7 +106,7 @@
     </qos>
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/ROS2_BatteryState0</name>
+      <name>rt/ap/battery/battery0</name>
       <dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
       <historyQos>
         <kind>KEEP_LAST</kind>
@@ -115,7 +115,7 @@
     </topic>
   </data_writer>
   <topic profile_name="localpose__t">
-    <name>rt/ROS2_LocalPose</name>
+    <name>rt/ap/pose/filtered</name>
     <dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -134,7 +134,7 @@
     </qos>
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/ROS2_LocalPose</name>
+      <name>rt/ap/pose/filtered</name>
       <dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
       <historyQos>
         <kind>KEEP_LAST</kind>