Ryan Friedman
b2a63ff2b9
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>
2024-11-14 09:02:45 +11:00
Ryan Friedman
380e9aa36b
AP_DDS: Wrap services in defines
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Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
2024-10-27 11:59:08 +11:00
Ryan Friedman
72f0ecc18f
AP_DDS: Support compile-time configurable rates for each publisher
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Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
2024-10-24 20:58:24 +11:00
Tiziano Fiorenzani
969979cd17
AP_DDS: battery topic to report all the available batteries
2024-10-11 09:53:51 +11:00
Tiziano Fiorenzani
57157d470f
AP_DDS: Airspeed topic
2024-10-09 10:00:32 +11:00
Ryan Friedman
88c06e07d7
AP_DDS: Wrap all topics in ifdefs
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* Give ability to enable/disable any topic in DDS through compile
options
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
2024-10-08 10:18:38 +11:00
Ryan Friedman
1bdc635ba8
AP_DDS: Implement joystick support
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Signed-off-by: Ryan Friedman <ryan.friedman+github@avinc.com>
Co-Authored-by: Tiziano Fiorenzani
2024-10-01 10:46:35 +10:00
Rhys Mainwaring
a75b8a9269
AP_DDS: add params for ping timeout and max retries
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-09-24 22:49:49 +10:00
Ryan Friedman
aecb3268c7
AP_DDS: Correct compilation of tests without external odom
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-09-19 11:45:15 +10:00
Ryan Friedman
dcfbf0ab69
AP_DDS: Add defines for experimental topics such as IMU
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* Experimental topics, such as IMU, should have an easy way to be
disabled at compile time
* This demonstrates a pattern to add in new topics at compile time
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-09-17 10:40:59 +10:00
Peter Barker
c05441b959
AP_DDS: remove instance check for DDS Client
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this is probably a flow of control problem.
But the code block below this resets some state variables before returning, and will also return false in the same case this removed block does.
Resetting that state might be very important to the caller.
2024-09-06 08:52:20 +10:00
Peter Barker
99dc2d1b39
AP_DDS: remove use of AP_AHRS from most headers
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don't need to know the details, just that it is a class
2024-09-03 10:35:54 +10:00
Ryan Friedman
02d01ce392
AP_DDS: Remove duplicate instructions
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-09-02 12:24:31 +10:00
Rhys Mainwaring
5919ef69cb
AP_DDS: add param DDS_DOMAIN_ID
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- Require reboot.
- Set DDS_DOMAIN_ID range: 0 to 232..
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-07-20 19:13:53 +10:00
Andrew Tridgell
4d5095cea1
AP_DDS: fixed cell voltages
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the std:copy was copying from uint16_t to float
2024-07-11 07:25:33 +10:00
Andrew Tridgell
d5a90af9ba
AP_DDS: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
Ryan Friedman
513938b0ff
AP_DDS: Use common quaternion initialization function
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-05-30 16:57:28 +10:00
Rhys Mainwaring
88926a38cf
AP_DDS: make all subscriber QoS best effort reliability
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-05-29 17:47:52 +10:00
Rhys Mainwaring
840f4b142d
AP_DDS: fix type string for navsat msg
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-05-29 17:47:52 +10:00
Rhys Mainwaring
c71ef23657
AP_DDS: create entities by binary
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- Add topic name and type to topic table.
- Use binary creation functions for participants and topics.
- Add constant for domain ID.
- Create publishers and datawriters by binary
- Create subscribers, datareaders and services by binary
- Add extra fields to the services table.
- Remove dds_xrce_profile.xml
- Document additional service table fields
- Add QoS struct to topic and service tables
- Replace profile labels with enums.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-05-29 17:47:52 +10:00
Rhys Mainwaring
33d51d52ad
AP_DDS: ensure zero rotation quaternions are normalised
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- ROS expects quaternions to be normalised and the default message constructor does not enforce this.
- Fix normalisation for pose stamped.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-05-26 09:46:48 +10:00
Ryan Friedman
bd518dc140
AP_DDS: Fix incorrect port param name
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* We want to support TCP and UDP in the future, so make sure we call it
UDP here
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2024-03-24 11:27:22 +11:00
Rhys Mainwaring
c173b3f186
AP_DDS: add missing config include in client and type_conversions
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 17:06:03 +11:00
Rhys Mainwaring
7c50b34ad2
AP_DDS: update topics in README
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 17:05:15 +11:00
Rhys Mainwaring
88a4d6848a
AP_DDS: publish gps global origin
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 17:05:15 +11:00
Rhys Mainwaring
5dc9366cea
AP_DDS: add GeoPointStamped.idl
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- Required for publishing the global position origin.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 17:05:15 +11:00
Rhys Mainwaring
dac291c762
AP_DDS: use msg_prefix in GCS_SEND_TEXT
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 10:32:31 +11:00
Rhys Mainwaring
84e4a94ae7
AP_DDS: use microxrcedds_gen default-container-prealloc-size
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 10:32:31 +11:00
Rhys Mainwaring
3cb81b2e81
AP_DDS: remove unused TFMessage variable
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2024-03-13 10:32:31 +11:00
astik
24de88f85c
AP_DDS: Add IMU publisher
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* Using NED frame
2024-03-03 07:04:59 +11:00
Peter Barker
c0a57cb447
AP_DDS: add missing include in externalcontrol
2024-02-29 12:12:00 +11:00
Randy Mackay
6c5425cd68
AP_DDS: send quality of zero to AP_VisualOdom
2024-02-28 18:52:37 +11:00
Ryan Friedman
da976300d1
AP_DDS: add REP-147 Global Position Control
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-12-20 02:37:01 +00:00
Thomas Watson
f0a92889fa
AP_DDS: remove references to legacy UART order
2023-12-19 06:53:15 +11:00
Ryan Friedman
14aeb831fb
AP_DDS: Add instructions for running HW test
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-22 21:44:35 -08:00
Rhys Mainwaring
0d735ffb01
AP_DDS: increase the timeout when creating participants and entities
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-11-21 13:20:23 +11:00
Ryan Friedman
2d465a5b20
AP_DDS: Fix typos and out of date info
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-20 08:40:06 +09:00
Tom Pittenger
d189730b9f
AP_DDS: fix defines to make astyle happy
2023-11-15 12:43:41 -08:00
Tom Pittenger
6cd24bb87b
AP_DDS: Add user-selectable UDP IP
2023-11-15 12:43:41 -08:00
Tom Pittenger
4c70670445
AP_DDS: use AP_NETWORKING_BACKEND_ANY
2023-11-15 12:43:41 -08:00
Rhys Mainwaring
125c8fa1fa
AP_DDS: support automatic reconnect to micro-ROS agent
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- Add ping test and attempt reconnect if connection dropped.
- Retry ping test max_attempts before exiting.
- Move `uxr_init_session` from transport init to session init for reconnect
- Tidy handling of transport.comm
- Fix codestyle
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
AP_DDS: use PONG_IN_SESSION_STATUS in status check
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
AP_DDS: add local variables to clarify arguments to uxr_ping_agent_session
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-11-10 17:13:36 +11:00
Rhys Mainwaring
33f122146e
AP_DDS: revert change that removed namespace for TF subscriber topic
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-10-28 10:31:46 +11:00
Rhys Mainwaring
d82f3e9591
AP_DDS: use TopicIndex enum to index topics table
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-10-25 10:04:14 +11:00
muramura
dc95121b15
AP_DDS: Aggregate message
2023-10-25 09:49:49 +11:00
Rhys Mainwaring
fddea2558c
AP_DDS: standardise GCS_SEND_TEXT message prefix
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-10-20 07:06:13 +11:00
Rhys Mainwaring
fbdd4d65c5
AP_DDS: use generated types for service serialisation
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-10-19 09:33:59 +11:00
Mykhailo Kuznietsov
9030c5b0de
AP_DDS: Fix some typos
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Fixed some typos found in the code.
2023-10-12 18:30:42 +11:00
Rhys Mainwaring
3bf8b4f1bf
AP_DDS: use ROS convention for node name
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-10-11 18:00:24 +11:00
arshPratap
8c2627ca40
AP_DDS: Added Mode Switch Service
2023-09-11 09:50:14 +10:00
Rhys Mainwaring
eeb5227228
AP_DDS: update dds profile, eliminate need for integration service
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- Use type and topic name mapping rules in the arm_motors service profile.
- Remove the integration service configuration file.
- Update the service section in the README and document the topic and service mapping rules.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
2023-09-07 08:46:05 +10:00