micrortps_bridge: uorb multi-topics don't work

[ChristophTobler]

Currently, uorb multi-topics (e.g. optical_flow_raw, vehicle_vision_position, etc.) don't work with the micrortps_bridge.
https://github.com/PX4/Firmware/blob/master/src/modules/micrortps_bridge/CMakeLists.txt

related to #8495. But I guess we need to fix it anyways.

@dagar I saw you've worked on it. Is that something you could look into?

[dagar]

I'm not that familiar with FastRTPS itself, but at a glance it doesn't look like the concept of multi-topics exists. I think we'll need to treat them like individual topics (sensor_accel_0, sensor_accel_1, etc), but it could be done automatically.

The manually maintained message ids (https://github.com/PX4/Firmware/blob/master/msg/tools/uorb_rtps_message_ids.py#L5) are already a problem. So the entire thing needs to be considered.

Should we discuss this on the messaging working group call?

[ChristophTobler]

Should we discuss this on the messaging working group call?

Sure. When's that?

[dagar]

It's on Thursday, although I've never attended.
https://dev.px4.io/en/contribute/#calendar

The big overall issue that's not at all clear to me is how we need to handle message versioning and ids when you start using them outside of Firmware.

[TSC21]

@santiago3dr can we please keep this open? This is something that still needs to be tackled.

[santiago3dr]

closing old issues, if they are being worked on or need to remain open, let's give them higher priority

[TSC21]

Sure thing. I was actually unaware that this issue existed, but considering what I am working on now, makes sense to have it opened and solved asap.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.

[dagar]

@TSC21 I believe you'll need to explicitly handle the instances as separate topics.

[TSC21]

@TSC21 I believe you'll need to explicitly handle the instances as separate topics.

Yes I know. Just didn't have time to implement this yet.

[TSC21]

Solution in #12137

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[TSC21]

Solved already.