forked from PX4/PX4-Autopilot
/
dds_topics.yaml
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/
dds_topics.yaml
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#####
#
# This file maps all the topics that are to be used on the micro DDS client.
#
#####
publications:
- topic: /fmu/out/collision_constraints
type: px4_msgs::msg::CollisionConstraints
- topic: /fmu/out/failsafe_flags
type: px4_msgs::msg::FailsafeFlags
- topic: /fmu/out/position_setpoint_triplet
type: px4_msgs::msg::PositionSetpointTriplet
- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
- topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus
# - topic: /fmu/out/vehicle_angular_velocity
# type: px4_msgs::msg::VehicleAngularVelocity
- topic: /fmu/out/vehicle_attitude
type: px4_msgs::msg::VehicleAttitude
- topic: /fmu/out/vehicle_control_mode
type: px4_msgs::msg::VehicleControlMode
- topic: /fmu/out/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
- topic: /fmu/out/vehicle_gps_position
type: px4_msgs::msg::SensorGps
- topic: /fmu/out/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
subscriptions:
- topic: /fmu/in/offboard_control_mode
type: px4_msgs::msg::OffboardControlMode
- topic: /fmu/in/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/in/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/in/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/in/telemetry_status
type: px4_msgs::msg::TelemetryStatus
- topic: /fmu/in/trajectory_setpoint
type: px4_msgs::msg::TrajectorySetpoint
- topic: /fmu/in/vehicle_attitude_setpoint
type: px4_msgs::msg::VehicleAttitudeSetpoint
- topic: /fmu/in/vehicle_mocap_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/vehicle_visual_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_command
type: px4_msgs::msg::VehicleCommand
- topic: /fmu/in/vehicle_trajectory_bezier
type: px4_msgs::msg::VehicleTrajectoryBezier
- topic: /fmu/in/vehicle_trajectory_waypoint
type: px4_msgs::msg::VehicleTrajectoryWaypoint