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AP_DDS: Set GPS instance ID in the GPS frame ID

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Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
Ryan Friedman 2024-10-20 18:42:39 -06:00 committed by Andrew Tridgell
parent c270c392c4
commit bd067f9615
3 changed files with 5 additions and 4 deletions
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3
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -197,7 +197,8 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i
update_topic(msg.header.stamp); update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, WGS_84_FRAME_ID); static_assert(GPS_MAX_RECEIVERS <= 9, "GPS_MAX_RECEIVERS is greater than 9");
hal.util->snprintf(msg.header.frame_id, 2, "%u", instance);
msg.status.service = 0; // SERVICE_GPS msg.status.service = 0; // SERVICE_GPS
msg.status.status = -1; // STATUS_NO_FIX msg.status.status = -1; // STATUS_NO_FIX

2
libraries/AP_DDS/AP_DDS_Topic_Table.h
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@ -96,7 +96,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID}, .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID}, .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter, .topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/navsat/navsat0", .topic_name = "rt/ap/navsat",
.type_name = "sensor_msgs::msg::dds_::NavSatFix_", .type_name = "sensor_msgs::msg::dds_::NavSatFix_",
.qos = { .qos = {
.durability = UXR_DURABILITY_VOLATILE, .durability = UXR_DURABILITY_VOLATILE,

4
libraries/AP_DDS/README.md
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@ -178,7 +178,7 @@ Published topics:
* /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher * /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher
* /ap/gps_global_origin/filtered [geographic_msgs/msg/GeoPointStamped] 1 publisher * /ap/gps_global_origin/filtered [geographic_msgs/msg/GeoPointStamped] 1 publisher
* /ap/imu/experimental/data [sensor_msgs/msg/Imu] 1 publisher * /ap/imu/experimental/data [sensor_msgs/msg/Imu] 1 publisher
* /ap/navsat/navsat0 [sensor_msgs/msg/NavSatFix] 1 publisher * /ap/navsat [sensor_msgs/msg/NavSatFix] 1 publisher
* /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher * /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher
* /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher * /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher
* /ap/time [builtin_interfaces/msg/Time] 1 publisher * /ap/time [builtin_interfaces/msg/Time] 1 publisher
@ -354,7 +354,7 @@ The table below provides example mappings for topics and services
| ROS 2 | DDS | | ROS 2 | DDS |
| --- | --- | | --- | --- |
| ap/clock | rt/ap/clock | | ap/clock | rt/ap/clock |
| ap/navsat/navsat0 | rt/ap/navsat/navsat0 | | ap/navsat | rt/ap/navsat |
| ap/arm_motors | rq/ap/arm_motorsRequest, rr/ap/arm_motorsReply | | ap/arm_motors | rq/ap/arm_motorsRequest, rr/ap/arm_motorsReply |
Refer to existing mappings in [`AP_DDS_Topic_Table`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/AP_DDS_Topic_Table.h) Refer to existing mappings in [`AP_DDS_Topic_Table`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/AP_DDS_Topic_Table.h)