mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
e1b06a1b99
* Edit BatteryState.idl * Add BatteryState to AP_DDS_Topic_table.h * Add BatteryState to the DDS Client * Add voltage * Add temperature * Add current * Add charge * Add capacity with NAN value * Add design_capacity * Add percentage * Add power_supply_status * Add power_supply_health * Add power_supply_technology with 0 value * Add present * Cell_voltage and Serial_number need to be implemented in the future * Did not add cell_temperature as AP_BattMonitor doesn't support it * Did not add location as this is a generic implementation * Parameterize battery instance number
115 lines
3.1 KiB
XML
115 lines
3.1 KiB
XML
<?xml version="1.0"?>
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<profiles>
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<participant profile_name="participant_profile">
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<rtps>
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<name>Ardupilot_DDS_XRCE_Client</name>
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</rtps>
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</participant>
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<topic profile_name="time__t">
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<name>rt/ROS2_Time</name>
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<dataType>builtin_interfaces::msg::dds_::Time_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>20</depth>
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</historyQos>
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</topic>
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<data_writer profile_name="time__dw">
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<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
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<qos>
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<reliability>
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<kind>RELIABLE</kind>
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</reliability>
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</qos>
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<topic>
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<kind>NO_KEY</kind>
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<name>rt/ROS2_Time</name>
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<dataType>builtin_interfaces::msg::dds_::Time_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>20</depth>
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</historyQos>
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</topic>
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</data_writer>
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<topic profile_name="navsatfix0__t">
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<name>rt/ROS2_NavSatFix0</name>
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<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</historyQos>
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</topic>
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<data_writer profile_name="navsatfix0__dw">
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<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
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<qos>
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<reliability>
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<kind>BEST_EFFORT</kind>
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</reliability>
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<durability>
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<kind>VOLATILE</kind>
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</durability>
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</qos>
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<topic>
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<kind>NO_KEY</kind>
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<name>rt/ROS2_NavSatFix0</name>
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<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</historyQos>
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</topic>
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</data_writer>
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<topic profile_name="statictransforms__t">
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<name>rt/tf</name>
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<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>1</depth>
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</historyQos>
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</topic>
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<data_writer profile_name="statictransforms__dw">
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<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
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<qos>
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<reliability>
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<kind>RELIABLE</kind>
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</reliability>
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<durability>
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<kind>TRANSIENT_LOCAL</kind>
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</durability>
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</qos>
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<topic>
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<kind>NO_KEY</kind>
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<name>rt/tf</name>
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<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>1</depth>
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</historyQos>
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</topic>
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</data_writer>
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<topic profile_name="batterystate0__t">
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<name>rt/ROS2_BatteryState0</name>
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<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>20</depth>
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</historyQos>
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</topic>
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<data_writer profile_name="batterystate0__dw">
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<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
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<qos>
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<reliability>
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<kind>RELIABLE</kind>
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</reliability>
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</qos>
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<topic>
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<kind>NO_KEY</kind>
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<name>rt/ROS2_BatteryState0</name>
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<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>20</depth>
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</historyQos>
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</topic>
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</data_writer>
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</profiles>
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