[dds] rename microdds_client into uxrce_dds_client (#2483)

* [dds] middleware/xrce_dds.md renamed to middleware/uxrce_dds.md all cross-link updated. assets/middleware/xrce_dds/architecture_xrce-dds_ros2.svg not renamed yet. Signed-off-by: Beniamino Pozzan <[email protected]> * [dds] microdds to uxrce_dds all accurrencies of *microdds* have be renamed en/modules/modules_system.md is left untouched as it is automatically updated. Signed-off-by: Beniamino Pozzan <[email protected]> * [dds] xrce-dds renamed into uxrce-dds Signed-off-by: Beniamino Pozzan <[email protected]> * Update companion_computer_peripherals.md Simplify the text. Just really to touch the PR and test my link tester code. * [dds] Fix broken links Signed-off-by: Beniamino Pozzan <[email protected]> --------- Signed-off-by: Beniamino Pozzan <[email protected]> Co-authored-by: Hamish Willee <[email protected]>
PX4 · May 3, 2023 · aa621e6 · aa621e6
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diff --git a/en/SUMMARY.md b/en/SUMMARY.md
@@ -581,7 +581,7 @@
       * [Wind](msg_docs/Wind.md)
       * [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
     * [MAVLink Messaging](middleware/mavlink.md)
-    * [XRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/xrce_dds.md)
+    * [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
   * [Modules & Commands](modules/modules_main.md)
     * [Autotune](modules/modules_autotune.md)
     * [Commands](modules/modules_command.md)

diff --git a/en/advanced_config/ethernet_setup.md b/en/advanced_config/ethernet_setup.md
@@ -205,18 +205,18 @@ However this is not recommended because the default configuration is optimised f
 ## ROS 2 Setup Example
 
 :::note Prerequisites:
-- You have a supported autopilot hardware running PX4 firmware that includes [XRCE-DDS](../middleware/xrce_dds.md) middleware.
-  Note that PX4 v1.14 and later include the required [microdds-client](../modules/modules_system.md#microdds-client) module by default.
+- You have a supported autopilot hardware running PX4 firmware that includes [uXRCE-DDS](../middleware/uxrce_dds.md) middleware.
+  Note that PX4 v1.14 and later include the required [uxrce_dds_client](../modules/modules_system.md#uxrce_dds_client) module by default.
 - [ROS 2](../ros/ros2_comm.md) has been set up correctly on the companion computer.
 - You have followed the Ethernet network and port setup as discussed at the top of this page. 
 :::
 
 To set up ROS 2:
 
 1. Connect your flight controller and companion computer via Ethernet.
-2. [Start the micro XRCE-DDS client on PX4](../middleware/xrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
+2. [Start the uXRCE-DDS client on PX4](../middleware/uxrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
    Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `192.168.0.1`, and the agent UDP port is set to `8888` in the next step).
-3. [Start the XRCE-DDS agent on the companion computer](../middleware/xrce_dds.md#starting-the-agent).
+3. [Start the micro XRCE-DDS agent on the companion computer](../middleware/uxrce_dds.md#starting-the-agent).
    For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
 
    ```

diff --git a/en/companion_computer/README.md b/en/companion_computer/README.md
@@ -10,7 +10,7 @@ The diagram below shows a possible architecture for an unmanned vehicle architec
 
 The flight controller runs PX4 on NuttX, and provides core flight and safety code.
 The companion computer usually runs Linux, as this is a much better platform for "general" software development.
-They are connected using a fast serial or Ethernet link, and typically communicate using the [MAVLink protocol](https://mavlink.io/en/) or microDDS.
+They are connected using a fast serial or Ethernet link, and typically communicate using the [MAVLink protocol](https://mavlink.io/en/) or uXRCE-DDS.
 
 Communications with the ground stations and the cloud are usually routed via the companion computer (e.g. using the [MAVLink Router](https://github.com/mavlink-router/mavlink-router)).
 
@@ -27,7 +27,7 @@ The following boards are known to provide a good integration with PX4:
 
 ## Companion Computer Options
 
-PX4 can be used with computers that can be configured to communicate via MAVLink or microROS/microDDS over over a serial port (or Ethernet port, if present).
+PX4 can be used with computers that can be configured to communicate via MAVLink or microROS/uXRCE-DDS over over a serial port (or Ethernet port, if present).
 
 A small subset of possible alternatives are listed below:
 

diff --git a/en/companion_computer/companion_computer_peripherals.md b/en/companion_computer/companion_computer_peripherals.md
@@ -5,13 +5,11 @@ These include both components that might be connected to a companion computer (p
 
 ## Companion/Pixhawk Communication
 
-Typical companion computer work with Pixhawk requires a companion link to transmit/receive the data between the companion computer and Pixhawk hardware (e.g. Intel NUC and Pixhawk 4).
-
-There are a few devices that allow this communication bridge such as FTDI USB breakouts and level shifters (see below).
+This section lists devices that may be used for the physical serial/data connection between a companion computer and a flight controller.
 
 :::note
-PX4 configuration for communicating with a companion computer over MAVLink configuration is covered in [MAVLink \(OSD / Telemetry\)](../peripherals/mavlink_peripherals.md#example).
-Other relevant topics/sections include: [Companion Computers](../companion_computer/README.md), [Robotics](../robotics/README.md) and [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/xrce_dds.md).
+PX4 configuration for communicating with a companion computer over MAVLink configuration is covered in [MAVLink (OSD / Telemetry)](../peripherals/mavlink_peripherals.md#example).
+Other relevant topics/sections include: [Companion Computers](../companion_computer/README.md), [Robotics](../robotics/README.md) and [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md).
 :::
 
 ### FTDI Devices

diff --git a/en/companion_computer/pixhawk_companion.md b/en/companion_computer/pixhawk_companion.md
@@ -28,7 +28,7 @@ The port is configured by default to interface using MAVLink.
 If using MAVLink, no other PX4-side configuration should be required.
 To use MAVLink on another port, and/or disable it on `TELEM2`, see [MAVLink Peripherals (GCS/OSD/Companion)](../peripherals/mavlink_peripherals.md) and [Serial Port Configuration](../peripherals/serial_configuration.md).
 
-To use [ROS 2/XRCE-DDS](../ros/ros2_comm.md) instead of MAVLink on `TELEM2`, disable MAVLink on the port and then enable the XRCE-DDS client on `TELEM2`(see [XRCE-DDS > Starting the client](../middleware/xrce_dds.md#starting-the-client)).
+To use [ROS 2/uXRCE-DDS](../ros/ros2_comm.md) instead of MAVLink on `TELEM2`, disable MAVLink on the port and then enable the uXRCE-DDS client on `TELEM2`(see [uXRCE-DDS > Starting the client](../middleware/uxrce_dds.md#starting-the-client)).
 
 ### Serial Port Hardware Setup
 

diff --git a/en/companion_computer/pixhawk_rpi.md b/en/companion_computer/pixhawk_rpi.md
@@ -196,7 +196,7 @@ First check the Pixhawk `TELEM 2` configuration:
 
    ```
    MAV_1_CONFIG = TELEM2
-   XRCE_DDS_CFG = 0 (Disabled)
+   UXRCE_DDS_CFG = 0 (Disabled)
    SER_TEL2_BAUD = 57600
    ```
 
@@ -234,11 +234,11 @@ MAVProxy on RPi should now connect to the Pixhawk, via RX/TX pins.
 You should be able to see this in the RPi terminal.
 
 We have now verified that our connection is wired up properly.
-In the next section we'll set up the both Pixhawk and RPi to use XRCE-DDS and ROS2 instead of MAVLink.
+In the next section we'll set up the both Pixhawk and RPi to use uXRCE-DDS and ROS2 instead of MAVLink.
 
-## ROS 2 and XRCE-DDS
+## ROS 2 and uXRCE-DDS
 
-The [ROS 2 Guide](../ros/ros2_comm.md) and [XRCE-DDS](../middleware/xrce_dds.md) pages cover the options for setting up the XRCE-DDS and ROS, focussing on ROS 2 "Foxy".
+The [ROS 2 Guide](../ros/ros2_comm.md) and [uXRCE-DDS](../middleware/uxrce_dds.md) pages cover the options for setting up the uXRCE-DDS and ROS, focussing on ROS 2 "Foxy".
 This tutorial uses ROS 2 "Humble" and covers the specific setup for working with RPi.
 It is worth reading both!
 
@@ -254,30 +254,30 @@ The configuration steps are:
 
    ```
    MAV_1_CONFIG = 0 (Disabled)
-   XRCE_DDS_CFG = 102 (TELEM2)
+   UXRCE_DDS_CFG = 102 (TELEM2)
    SER_TEL2_BAUD = 921600
    ```
 
-   [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [XRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#MAV_1_CONFIG) disable MAVLink on TELEM2 and enable the XRCE-DDS client on TELEM2, respectively.
+   [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
    The `SER_TEL2_BAUD` rate sets the comms link data rate.   
    You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
 
    :::note
    You will need to reboot the flight controller to apply any changes to these parameters.
    :::
 
-1. Check that the [microdds_client](../modules/modules_system.md#microdds-client) module is now running.
+1. Check that the [uxrce_dds_client](../modules/modules_system.md#uxrce_dds_client) module is now running.
    YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/analyze_view/mavlink_console.html): 
 
    ```
-   microdds_client status
+   uxrce_dds_client status
    ```
 
 :::note
 If the client module is not running you can start it manually in the MAVLink console: 
 
 ```
-microdds_client start -t serial -d /dev/ttyS3 -b 921600
+uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
 ```
 
 Note that `/dev/ttyS3` is the PX4 port for `TELEM2` on the [Holybro Pixhawk 6c](../flight_controller/pixhawk6c.md#serial-port-mapping).
@@ -286,15 +286,15 @@ For other flight controllers check the serial port mapping section in their over
 
 ### ROS Setup on RPi
 
-The steps to setup ROS 2 and the XRCE-DDS Agent on the RPi are:
+The steps to setup ROS 2 and the Micro XRCE-DDS Agent on the RPi are:
 
 1. Install ROS 2 Humble by following the [official tutorial](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
 2. Install the git using the RPi terminal:
 
    ```bash
    sudo apt install git
    ```
-3. Install the XRCE_DDS agent:
+3. Install the micro XRCE_DDS agent:
 
    ```bash
    git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
@@ -307,7 +307,7 @@ The steps to setup ROS 2 and the XRCE-DDS Agent on the RPi are:
    sudo ldconfig /usr/local/lib/
    ```
 
-   See [XRCE-DDS > XRCE-DDS Agent Installation](../middleware/xrce_dds.md#xrce-dds-agent-installation) for alternative ways of installing the agent.
+   See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
 4. Start the agent in the RPi terminal:
 
    ```bash

diff --git a/en/flight_modes/offboard.md b/en/flight_modes/offboard.md
@@ -105,7 +105,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
     * `xyz` for thrust and `xyz` for torque.
   - All the value are in the drone body FRD frame and normalized in \[-1, 1\].
   - In order to save resources, this mode is disabled by default.
-    If you want to use it you need to manually add  `vehicle_thrust_setpoint` and `vehicle_torque_setpoint` to the list of [subscribed topics](../middleware/xrce_dds.md#dds-topics-yaml), and manually recompile the firmware.
+    If you want to use it you need to manually add  `vehicle_thrust_setpoint` and `vehicle_torque_setpoint` to the list of [subscribed topics](../middleware/uxrce_dds.md#dds-topics-yaml), and manually recompile the firmware.
 
 
 

diff --git a/en/middleware/README.md b/en/middleware/README.md
@@ -1,6 +1,6 @@
 # Middleware
 
-This section contains topics about PX4 middleware, including PX4 internal communication mechanisms ([uORB](../middleware/uorb.md)), and between PX4 and offboard systems like companion computers and GCS (e.g. [MAVLink](../middleware/mavlink.md), [XRCE-DDS](../middleware/xrce_dds.md)). 
+This section contains topics about PX4 middleware, including PX4 internal communication mechanisms ([uORB](../middleware/uorb.md)), and between PX4 and offboard systems like companion computers and GCS (e.g. [MAVLink](../middleware/mavlink.md), [uXRCE-DDS](../middleware/uxrce_dds.md)). 
 
 :::tip
 For a detailed overview of the platform architecture see the [Architectural Overview](../concept/architecture.md).

diff --git a/en/middleware/micrortps.md b/en/middleware/micrortps.md
@@ -1,4 +1,4 @@
 # RTPS/DDS Interface: PX4-Fast RTPS(DDS) Bridge
 
-[XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/xrce_dds.md) has replaced the _Fast-RTPS Bridge_.
+[uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) has replaced the _Fast-RTPS Bridge_.
 If you're working in PX4 v1.13 or earlier see: [Fast-RTPS Bridge](https://docs.px4.io/v1.13/en/middleware/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge)