From 065f97e87ba76664b8db8b7a35507e3ecf2afec7 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Mon, 31 Dec 2018 16:59:36 +0000
Subject: [PATCH] add more relevant messages to the RTPS stream
---
msg/templates/urtps/RtpsTopics.h.template | 2 +-
msg/tools/uorb_rtps_message_ids.yaml | 48 +++++++++++++++++------
2 files changed, 37 insertions(+), 13 deletions(-)
diff --git a/msg/templates/urtps/RtpsTopics.h.template b/msg/templates/urtps/RtpsTopics.h.template
index 5c29632607..dcb94358c9 100644
--- a/msg/templates/urtps/RtpsTopics.h.template
+++ b/msg/templates/urtps/RtpsTopics.h.template
@@ -88,7 +88,7 @@ private:
@[end for]@
unsigned _next_sub_idx = 0;
- char _sub_topics[@(len(recv_topics))] = {
+ unsigned char _sub_topics[@(len(recv_topics))] = {
@[for topic in recv_topics]@
@(rtps_message_id(ids, topic)), // @(topic)
@[end for]@
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index a71473a6e3..5b02ee744f 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -9,27 +9,36 @@ rtps:
id: 3
- msg: adc_report
id: 4
+ send: true
- msg: airspeed
id: 5
send: true
- msg: battery_status
id: 6
+ send: true
- msg: camera_capture
id: 7
+ receive: true
- msg: camera_trigger
id: 8
+ receive: true
- msg: collision_report
id: 9
+ receive: true
- msg: commander_state
id: 10
- msg: cpuload
id: 11
+ send: true
- msg: debug_array
id: 12
+ receive: true
- msg: debug_key_value
id: 13
+ receive: true
- msg: debug_value
id: 14
+ receive: true
- msg: debug_vect
id: 15
receive: true
@@ -37,6 +46,7 @@ rtps:
id: 16
- msg: distance_sensor
id: 17
+ send: true
- msg: ekf2_innovations
id: 18
- msg: ekf2_timestamps
@@ -51,6 +61,7 @@ rtps:
id: 23
- msg: estimator_status
id: 24
+ send: true
- msg: follow_target
id: 25
- msg: geofence_result
@@ -61,10 +72,12 @@ rtps:
id: 28
- msg: home_position
id: 29
+ send: true
- msg: input_rc
id: 30
- msg: iridiumsbd_status
id: 31
+ send: true
- msg: irlock_report
id: 32
- msg: landing_target_innovation
@@ -89,6 +102,7 @@ rtps:
id: 42
- msg: obstacle_distance
id: 43
+ receive: true
- msg: offboard_control_mode
id: 44
- msg: optical_flow
@@ -104,8 +118,10 @@ rtps:
id: 49
- msg: position_setpoint
id: 50
+ receive: true
- msg: position_setpoint_triplet
id: 51
+ receive: true
- msg: power_button_state
id: 52
- msg: pwm_input
@@ -116,6 +132,7 @@ rtps:
id: 55
- msg: radio_status
id: 56
+ send: true
- msg: rate_ctrl_status
id: 57
- msg: rc_channels
@@ -126,6 +143,7 @@ rtps:
id: 60
- msg: satellite_info
id: 61
+ send: true
- msg: sensor_accel
id: 62
- msg: sensor_baro
@@ -165,6 +183,7 @@ rtps:
id: 78
- msg: trajectory_waypoint
id: 79
+ receive: true
- msg: transponder_report
id: 80
- msg: tune_control
@@ -181,6 +200,7 @@ rtps:
id: 86
- msg: vehicle_attitude
id: 87
+ send: true
- msg: vehicle_attitude_setpoint
id: 88
- msg: vehicle_command
@@ -193,6 +213,7 @@ rtps:
id: 92
- msg: vehicle_global_position
id: 93
+ send: true
- msg: vehicle_gps_position
id: 94
- msg: vehicle_land_detected
@@ -205,6 +226,7 @@ rtps:
id: 98
- msg: vehicle_odometry
id: 99
+ send: true
- msg: vehicle_rates_setpoint
id: 100
- msg: vehicle_roi
@@ -215,10 +237,16 @@ rtps:
id: 103
- msg: vehicle_trajectory_waypoint
id: 104
+ receive: true
- msg: vtol_vehicle_status
id: 105
+ send: true
- msg: wind_estimate
id: 106
+ send: true
+ - msg: collision_constraints
+ id: 107
+ send: true
# multi topics
- msg: actuator_control0
id: 120
@@ -238,21 +266,17 @@ rtps:
id: 127
- msg: vehicle_attitude_groundtruth
id: 128
- - msg: vehicle_vision_attitude
- id: 129
- msg: vehicle_global_position_groundtruth
- id: 130
+ id: 129
- msg: vehicle_local_position_groundtruth
+ id: 130
+ - msg: vehicle_mocap_odometry
id: 131
- # - msg: vehicle_mocap_odometry
- # id: 132
- #
- # - msg: vehicle_visual_odometry
- # id: 133
- #
+ - msg: vehicle_visual_odometry
+ id: 132
- msg: mc_virtual_rates_setpoint
- id: 134
+ id: 133
- msg: fw_virtual_rates_setpoint
- id: 135
+ id: 134
- msg: vehicle_trajectory_waypoint_desired
- id: 136
+ id: 135
--
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