- 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>
- 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>
- 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>
- 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>
* Implement frame ID checking and test it
* Implement the visual odom function that does narrowing to floats
* Normalize quaternions from ROS
* Supply 0 error to EKF
* Handle external odomo only if HAL_VISUALODOM_ENABLED is defined
* Implement odom timestamping and improve docs
* Add unit tests
* Add a CONFIG file for DDS
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* DDS is still disabled by default in all builds for the library level compile flag
* This parameter was blocking running ROS 2 automated testing in CI
* This can be changed once ENABLE_DDS compiler flag is enabled in SITL or for the 4.5 release
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* This is the first step for GSOC Cartographer external odometry input
* Moved subscriber data members to class member variables
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* Remove unused void* functions
* Switch subscriber handling based on ID
* Use enums instead of relying on manual alignment of indices in code
* Pass topic by reference using local stack
* Relates to #23964
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Ryan Friedman
Rhys Mainwaring
astik
Peter Barker
Randy Mackay
Thomas Watson
Tom Pittenger
muramura
Mykhailo Kuznietsov
arshPratap
pedro-fuoco
Andrew Tridgell