From 742d237ae31f948b99d346e88e5504652147264a Mon Sep 17 00:00:00 2001 From: Beniamino Pozzan Date: Sun, 15 Oct 2023 13:25:00 +0100 Subject: [PATCH] [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 --- src/modules/uxrce_dds_client/dds_topics.yaml | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml index 4943be7e61e1..06a8b69853e9 100644 --- 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: