[uxrce_dds_client] add minimal request-reply support #22313
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update CI (github and Jenkins) to push changes of srv/ to PX4/px4_msgs repo Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
…ervice Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
dagar
approved these changes
Nov 14, 2023
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-maintainers-call-november-14-2023/35183/1 |
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New Feature
/fmu/vehicle_command:/fmu/in/vehicle_commandandfmu/out/vehicle_command_ack.Base services
The virtual class
SrvBaseallows to define new services, each new service must implement its new constructor, theprocess_requestmethod, which is called whenever a new request is received theprocess_replymethod, which process and send the reply.VehicleCommandSrvgives an example of implementation.The registration of new services is performed by
UxrceddsClient::add_replier(), the maximum number of services that can be instantiated is fixed byMAX_NUM_REPLIERS.How to test
The easiest way to test this PR is in simulation.
The PR requires custom versions
px4_msgs: PX4/px4_msgs#31 , which defines the newpx4_msgs::srv::Vehicle_Commandservice.Then a modified version of
px4_ros_com: PX4/px4_ros_com#207 , which implements a version of theoffboard_controlnode usingpx4_msgs::srv::Vehicle_Command.Changelog Entry
For release notes: