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AP_DDS: Fix some typos

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Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:52 +11:00 committed by Peter Barker
parent 2806fc98b3
commit 9030c5b0de
3 changed files with 7 additions and 7 deletions
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4
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -300,7 +300,7 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// As a consequence, to follow ROS REP 103, it is necessary to switch X and Y,
// as well as invert Z (NED to ENU convertion) as well as a 90 degree rotation in the Z axis
// as well as invert Z (NED to ENU conversion) as well as a 90 degree rotation in the Z axis
// for x to point forward
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {
@ -377,7 +377,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
// Z - Up
// https://www.ros.org/reps/rep-0103.html#axis-orientation
// As a consequence, to follow ROS REP 103, it is necessary to switch X and Y,
// as well as invert Z (NED to ENU convertion) as well as a 90 degree rotation in the Z axis
// as well as invert Z (NED to ENU conversion) as well as a 90 degree rotation in the Z axis
// for x to point forward
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {

4
libraries/AP_DDS/AP_DDS_External_Odom.cpp
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@ -27,7 +27,7 @@ void AP_DDS_External_Odom::handle_external_odom(const tf2_msgs_msg_TFMessage& ms
convert_transform(ros_transform_stamped.transform, ap_position, ap_rotation);
// Although ROS convention states quaternions in ROS messages should be normalized, it's not guaranteed.
// Before propogating a potentially inaccurate quaternion to the rest of AP, normalize it here.
// Before propagating a potentially inaccurate quaternion to the rest of AP, normalize it here.
// TODO what if the quaternion is NaN?
ap_rotation.normalize();
@ -38,7 +38,7 @@ void AP_DDS_External_Odom::handle_external_odom(const tf2_msgs_msg_TFMessage& ms
// https://www.ros.org/reps/rep-0105.html#id16
// Thus, there will not be any resets.
const uint8_t reset_counter {0};
// TODO imlement jitter correction similar to GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(remote_time_us, sizeof(msg));
// TODO implement jitter correction similar to GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(remote_time_us, sizeof(msg));
const uint32_t time_ms {static_cast<uint32_t>(remote_time_us * 1E-3)};
visual_odom->handle_pose_estimate(remote_time_us, time_ms, ap_position.x, ap_position.y, ap_position.z, ap_rotation, posErr, angErr, reset_counter);

6
libraries/AP_DDS/README.md
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@ -84,7 +84,7 @@ While DDS support in Ardupilot is mostly through git submodules, another tool ne
```
> :warning: **If you have installed FastDDS or FastDDSGen globally on your system**:
eProsima's libraries and the packaging system in Ardupilot are not determistic in this scenario.
eProsima's libraries and the packaging system in Ardupilot are not deterministic in this scenario.
You may experience the wrong version of a library brought in, or runtime segfaults.
For now, avoid having simultaneous local and global installs.
If you followed the [global install](https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html#global-installation)
@ -139,7 +139,7 @@ Follow the steps to use the microROS Agent
sudo apt install ros-humble-geographic-msgs
```
- Install and run the microROS agent (as descibed here). Make sure to use the `humble` branch.
- Install and run the microROS agent (as described here). Make sure to use the `humble` branch.
- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:
- Do "Installing ROS 2 and the micro-ROS build system"
@ -321,7 +321,7 @@ provided a few rules are followed when defining the entries in
#### ROS 2 message and service interface types
ROS 2 message and interface defintions are mangled by the `rosidl_adapter` when
ROS 2 message and interface definitions are mangled by the `rosidl_adapter` when
mapping from ROS 2 to DDS to avoid naming conflicts in the C/C++ libraries.
The ROS 2 object `namespace::Struct` is mangled to `namespace::dds_::Struct_`
for DDS. The table below provides some example mappings: