ackermann: advertise ackermann publishers

PX4 · Jun 27, 2024 · 8eb9996 · 8eb9996
1 parent eac2fe5
commit 8eb9996
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Showing 3 changed files with 3 additions and 1 deletion.
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -103,7 +103,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("position_setpoint_triplet", 200);
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
-	add_topic("rover_ackermann_guidance_status", 100);
+	add_optional_topic("rover_ackermann_guidance_status", 100);
 	add_optional_topic("rover_ackermann_status", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);

diff --git a/src/modules/rover_ackermann/RoverAckermann.cpp b/src/modules/rover_ackermann/RoverAckermann.cpp
@@ -40,6 +40,7 @@ RoverAckermann::RoverAckermann() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
 {
+	_rover_ackermann_status_pub.advertise();
 	updateParams();
 }
 

diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp
@@ -40,6 +40,7 @@ using namespace time_literals;
 
 RoverAckermannGuidance::RoverAckermannGuidance(ModuleParams *parent) : ModuleParams(parent)
 {
+	_rover_ackermann_guidance_status_pub.advertise();
 	updateParams();
 	pid_init(&_pid_throttle, PID_MODE_DERIVATIV_NONE, 0.001f);
 }