AP_DDS: replace ref interface with binary interface in uxr create entity methods #27145
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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>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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Ryanf55
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May 24, 2024
| .type_name = "tf2_msgs::msg::dds_::TFMessage_", | ||
| .qos = { | ||
| .durability = UXR_DURABILITY_VOLATILE, | ||
| .reliability = UXR_RELIABILITY_RELIABLE, |
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Are you sure we should use reliable for our high rate TF?
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These are the subscribers. The XML did not specify a reliability for these topics
- /ap/joy
- /ap/tf
- /ap/cmd_vel
- /ap/cmd_gps_poseIf the default QoS (struct) initialised each of it's fields to 0 we get:
typedef struct uxrQoS_t
{
uxrQoSDurability durability = UXR_DURABILITY_TRANSIENT_LOCAL;
uxrQoSReliability reliability = UXR_RELIABILITY_RELIABLE;
uxrQoSHistory history = UXR_HISTORY_KEEP_LAST;
uint16_t depth = 0;
} uxrQoS_t;See create_entities_bin.h. Now I'm not certain that the XML is doing the same. Perhaps we should set reliability to BEST_EFFORT for all subscribers?
Switch to BEST_EFFORT in bf1962d
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For these I think best effort to save resources.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Ryanf55
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May 25, 2024
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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srmainwaring
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Jul 17, 2024
Update the launch command which has changed in `master`. The `dds-xrce-profile.xml` is not required after version `4.5`. See: ArduPilot/ardupilot#27145
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Replace the
uxr_buffer_create_*_refmethods withuxr_buffer_create_*_bin. This eliminates the need for adds_xrce_profile.xmlon the agent side and simplifies future work to#ifdefmessages for inclusion as everything is now self contained theAP_DDSlibrary.Testing
ref:=...argument.Flash
See Also
--refargument to themicro_ros_agentin launch files is also required: Remove micro_ros_agent launch argument referencing dds_xrce_profile.xml ardupilot_gz#55