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AP_DDS: Set GPS instance ID in the GPS frame ID #28441

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AP_DDS: Set GPS instance ID in the GPS frame ID #28441

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AP_DDS: Set GPS instance ID in the GPS frame ID
Ryanf55 Oct 21, 2024
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Tools: Set GPS instance ID in the GPS frame ID
Ryanf55 Oct 21, 2024
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2 changes: 1 addition & 1 deletion Tools/ros2/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ To see all current options, use the `-s` argument:
ros2 launch ardupilot_sitl sitl.launch.py -s
```

#### `ardupilot_dds_test`
#### `ardupilot_dds_tests`

A `colcon` package for testing communication between `micro_ros_agent` and the
ArduPilot `AP_DDS` client library.
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2 changes: 1 addition & 1 deletion Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_navsat_msg_received.py
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Expand Up @@ -30,7 +30,7 @@

from sensor_msgs.msg import NavSatFix

TOPIC = "ap/navsat/navsat0"
TOPIC = "ap/navsat"


class NavSatFixListener(rclpy.node.Node):
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3 changes: 2 additions & 1 deletion libraries/AP_DDS/AP_DDS_Client.cpp
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Expand Up @@ -190,7 +190,8 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i


update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, WGS_84_FRAME_ID);
static_assert(GPS_MAX_RECEIVERS <= 9, "GPS_MAX_RECEIVERS is greater than 9");
hal.util->snprintf(msg.header.frame_id, 2, "%u", instance);
msg.status.service = 0; // SERVICE_GPS
msg.status.status = -1; // STATUS_NO_FIX

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2 changes: 1 addition & 1 deletion libraries/AP_DDS/AP_DDS_Topic_Table.h
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Expand Up @@ -96,7 +96,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/navsat/navsat0",
.topic_name = "rt/ap/navsat",
.type_name = "sensor_msgs::msg::dds_::NavSatFix_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
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4 changes: 2 additions & 2 deletions libraries/AP_DDS/README.md
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Expand Up @@ -178,7 +178,7 @@ Published topics:
* /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher
* /ap/gps_global_origin/filtered [geographic_msgs/msg/GeoPointStamped] 1 publisher
* /ap/imu/experimental/data [sensor_msgs/msg/Imu] 1 publisher
* /ap/navsat/navsat0 [sensor_msgs/msg/NavSatFix] 1 publisher
* /ap/navsat [sensor_msgs/msg/NavSatFix] 1 publisher
* /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher
* /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher
* /ap/time [builtin_interfaces/msg/Time] 1 publisher
Expand Down Expand Up @@ -354,7 +354,7 @@ The table below provides example mappings for topics and services
| ROS 2 | DDS |
| --- | --- |
| ap/clock | rt/ap/clock |
| ap/navsat/navsat0 | rt/ap/navsat/navsat0 |
| ap/navsat | rt/ap/navsat |
| ap/arm_motors | rq/ap/arm_motorsRequest, rr/ap/arm_motorsReply |

Refer to existing mappings in [`AP_DDS_Topic_Table`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/AP_DDS_Topic_Table.h)
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