Change max_rate_hz to a float & set 0Hz as disabled.

Change max_rate_hz to a float.
Set 0Hz as a disabled topic.

src/modules/uxrce_dds_client/dds_topics.h.em

@@ -44,7 +44,7 @@ struct SendSubscription {
 	const char* topic;
 	uint32_t topic_size;
 	UcdrSerializeMethod ucdr_serialize_method;
-	uint16_t max_rate_hz;
+	float max_rate_hz;
 };
 
 // Subscribers for messages to send
@@ -75,7 +75,7 @@ void SendTopicsSubs::init() {
 	for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) {
 		fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
 		fds[idx].events = POLLIN;
-		orb_set_interval(fds[idx].fd, send_subscriptions[idx].max_rate_hz ? 1000 / send_subscriptions[idx].max_rate_hz : 0);
+		orb_set_interval(fds[idx].fd, send_subscriptions[idx].max_rate_hz > 0 ? 1000 / send_subscriptions[idx].max_rate_hz : 10000);
 	}
 }
 

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -3,7 +3,7 @@
 # This file maps all the topics that are to be used on the uXRCE-DDS client.
 #
 #####
-default_max_rate_hz: 100
+default_max_rate_hz: 100.0
 
 publications:
 
@@ -39,7 +39,7 @@ publications:
 
   - topic: /fmu/out/sensor_combined
     type: px4_msgs::msg::SensorCombined
-    max_rate_hz: 1000
+    max_rate_hz: 1000.0
 
   - topic: /fmu/out/timesync_status
     type: px4_msgs::msg::TimesyncStatus

src/modules/uxrce_dds_client/generate_dds_topics.py

@@ -85,10 +85,10 @@
 merged_em_globals = {}
 all_type_includes = []
 
-if "default_max_rate_hz" not in msg_map:
-    msg_map["default_max_rate_hz"] = 100
+if 'default_max_rate_hz' not in msg_map:
+    msg_map['default_max_rate_hz'] = 100.0
 else:
-    msg_map["default_max_rate_hz"] = int(msg_map["default_max_rate_hz"])
+    msg_map['default_max_rate_hz'] = int(msg_map['default_max_rate_hz'])
 
 def process_message_type(msg_type):
     # eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint
@@ -103,16 +103,18 @@ def process_message_type(msg_type):
     msg_type['dds_type'] = msg_type['type'].replace("::msg::", "::msg::dds_::") + "_"
     # topic_simple: eg vehicle_status
     msg_type['topic_simple'] = msg_type['topic'].split('/')[-1]
-    if "max_rate_hz" not in msg_type:
-        msg_type["max_rate_hz"] = msg_map["default_max_rate_hz"]
+    if 'max_rate_hz' not in msg_type:
+        msg_type['max_rate_hz'] = msg_map['default_max_rate_hz']
     else:
-        msg_type["max_rate_hz"] = int(msg_type["max_rate_hz"])
+        msg_type['max_rate_hz'] = float(msg_type['max_rate_hz'])
 
 pubs_not_empty = msg_map['publications'] is not None
 if pubs_not_empty:
     for p in msg_map['publications']:
         process_message_type(p)
 
+# Remove disabled publications
+msg_map['publications'] = list(filter(lambda x: x['max_rate_hz'] > 0, msg_map['publications']))
 merged_em_globals['publications'] = msg_map['publications'] if pubs_not_empty else []
 
 subs_not_empty = msg_map['subscriptions'] is not None