[uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint

actuator_motors and actuator_servos subscribers for offboard control Being subscribers, this does not increase the computational load over the uxrce_dds brigde Signed-off-by: Beniamino Pozzan <[email protected]>
PX4 · Nov 23, 2023 · 742d237 · 742d237
1 parent 1c8f31f
commit 742d237
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -136,5 +136,17 @@ subscriptions:
   - topic: /fmu/in/vehicle_trajectory_waypoint
     type: px4_msgs::msg::VehicleTrajectoryWaypoint
 
+  - topic: /fmu/in/vehicle_thrust_setpoint
+    type: px4_msgs::msg::VehicleThrustSetpoint
+
+  - topic: /fmu/in/vehicle_torque_setpoint
+    type: px4_msgs::msg::VehicleTorqueSetpoint
+
+  - topic: /fmu/in/actuator_motors
+    type: px4_msgs::msg::ActuatorMotors
+
+  - topic: /fmu/in/actuator_servos
+    type: px4_msgs::msg::ActuatorServos
+
 # Create uORB::PublicationMulti
 subscriptions_multi: