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microRTPS bridge: uORB RTPS ID mandatory; allow pub/sub for multi-topics/alias msgs #12137

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merged 8 commits into from
Jul 26, 2019
Merged

microRTPS bridge: uORB RTPS ID mandatory; allow pub/sub for multi-topics/alias msgs #12137

merged 8 commits into from
Jul 26, 2019

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@TSC21 TSC21 commented Jun 1, 2019 •
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Describe problem solved by the proposed pull request
Following the works on the microRTPS bridge, makes sense that all added uORB messages should have their respective RTPS ID allocated, even if they are not used on the bridge.

UPDATE: I updated this PR to include a major structural change that allows us to use multi-topic msgs, meaning, alias msgs as vehicle_visual_odometry.

@TSC21 TSC21 requested a review from bkueng June 1, 2019 13:31
@TSC21 TSC21 self-assigned this Jun 1, 2019
@weekly-digest weekly-digest bot mentioned this pull request Jun 2, 2019
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@TSC21 TSC21 changed the title microRTPS bridge: make mandatory that all the uORB messages have their RTPS id microRTPS bridge: uORB RTPS ID mandatory; allow pub/sub for multi-topics/alias msgs Jun 2, 2019
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TSC21 commented Jun 2, 2019

@LorenzMeier @thomasgubler @jkflying FYI.

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TSC21 commented Jun 2, 2019

We have a SITL test, unrelated with this PR, continuously failing: http://ci.px4.io:8080/blue/organizations/jenkins/PX4_misc%2FFirmware-SITL_tests/detail/PR-12137/2/pipeline.

@TSC21 TSC21 mentioned this pull request Jun 2, 2019
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@TSC21 TSC21 requested a review from jkflying June 3, 2019 19:59
bkueng
bkueng reviewed Jun 4, 2019
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Can you try to reduce the amount of if (alias): ... else... to a combined solution where possible?

msg/templates/uorb_microcdr/microRTPS_client.cpp.template Outdated Show resolved Hide resolved
msg/templates/urtps/RtpsTopics.cpp.template Outdated Show resolved Hide resolved
msg/tools/generate_microRTPS_bridge.py Outdated Show resolved Hide resolved
msg/tools/px_generate_uorb_topic_files.py Outdated Show resolved Hide resolved
msg/tools/uorb_rtps_message_ids.yaml Show resolved Hide resolved
msg/tools/px_generate_uorb_topic_files.py Show resolved Hide resolved
@weekly-digest weekly-digest bot mentioned this pull request Jun 9, 2019
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@TSC21 TSC21 force-pushed the feature/make_RTPS_IDs_mandatory branch from 364b0c9 to b76aacb Compare July 26, 2019 09:33
@TSC21 TSC21 force-pushed the feature/make_RTPS_IDs_mandatory branch from f445cb2 to 0797d6b Compare July 26, 2019 10:15
bkueng
bkueng approved these changes Jul 26, 2019
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Approving, while keeping in mind that we'll need to simplify (for instance not having to specify the alias, but infer it from the topic definition, and use less cmake manipulations).

@bkueng bkueng merged commit eb951ed into master Jul 26, 2019
@bkueng bkueng deleted the feature/make_RTPS_IDs_mandatory branch July 26, 2019 13:05
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TSC21 commented Jul 26, 2019

Approving, while keeping in mind that we'll need to simplify (for instance not having to specify the alias, but infer it from the topic definition, and use less cmake manipulations).

Will be checking that further. Thanks Beat!

@weekly-digest weekly-digest bot mentioned this pull request Jul 28, 2019
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@bkueng bkueng bkueng approved these changes

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