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dds_topics.yaml
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#####
#
# This file maps all the topics that are to be used on the uXRCE-DDS client.
#
#####
publications:
- topic: /fmu/out/register_ext_component_reply
type: px4_msgs::msg::RegisterExtComponentReply
- topic: /fmu/out/arming_check_request
type: px4_msgs::msg::ArmingCheckRequest
rate_limit: 5.
- topic: /fmu/out/mode_completed
type: px4_msgs::msg::ModeCompleted
rate_limit: 50.
- topic: /fmu/out/battery_status
type: px4_msgs::msg::BatteryStatus
rate_limit: 1.
- topic: /fmu/out/collision_constraints
type: px4_msgs::msg::CollisionConstraints
rate_limit: 50.
- topic: /fmu/out/estimator_status_flags
type: px4_msgs::msg::EstimatorStatusFlags
rate_limit: 5.
- topic: /fmu/out/failsafe_flags
type: px4_msgs::msg::FailsafeFlags
rate_limit: 5.
- topic: /fmu/out/manual_control_setpoint
type: px4_msgs::msg::ManualControlSetpoint
rate_limit: 25.
- topic: /fmu/out/message_format_response
type: px4_msgs::msg::MessageFormatResponse
- topic: /fmu/out/position_setpoint_triplet
type: px4_msgs::msg::PositionSetpointTriplet
rate_limit: 5.
- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
- topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus
rate_limit: 10.
- topic: /fmu/out/transponder_report
type: px4_msgs::msg::TransponderReport
# - topic: /fmu/out/vehicle_angular_velocity
# type: px4_msgs::msg::VehicleAngularVelocity
- topic: /fmu/out/vehicle_land_detected
type: px4_msgs::msg::VehicleLandDetected
rate_limit: 5.
- topic: /fmu/out/vehicle_attitude
type: px4_msgs::msg::VehicleAttitude
rate_limit: 50.
- topic: /fmu/out/vehicle_control_mode
type: px4_msgs::msg::VehicleControlMode
rate_limit: 50.
- topic: /fmu/out/vehicle_command_ack
type: px4_msgs::msg::VehicleCommandAck
- topic: /fmu/out/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
rate_limit: 50.
- topic: /fmu/out/vehicle_gps_position
type: px4_msgs::msg::SensorGps
rate_limit: 50.
- topic: /fmu/out/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
rate_limit: 50.
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
rate_limit: 100.
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus
rate_limit: 5.
- topic: /fmu/out/airspeed_validated
type: px4_msgs::msg::AirspeedValidated
rate_limit: 50.
- topic: /fmu/out/vtol_vehicle_status
type: px4_msgs::msg::VtolVehicleStatus
- topic: /fmu/out/home_position
type: px4_msgs::msg::HomePosition
rate_limit: 5.
- topic: /fmu/out/wind
type: px4_msgs::msg::Wind
rate_limit: 1.
- topic: /fmu/out/gimbal_device_attitude_status
type: px4_msgs::msg::GimbalDeviceAttitudeStatus
rate_limit: 20.
# Create uORB::Publication
subscriptions:
- topic: /fmu/in/register_ext_component_request
type: px4_msgs::msg::RegisterExtComponentRequest
- topic: /fmu/in/unregister_ext_component
type: px4_msgs::msg::UnregisterExtComponent
- topic: /fmu/in/config_overrides_request
type: px4_msgs::msg::ConfigOverrides
- topic: /fmu/in/arming_check_reply
type: px4_msgs::msg::ArmingCheckReply
- topic: /fmu/in/message_format_request
type: px4_msgs::msg::MessageFormatRequest
- topic: /fmu/in/mode_completed
type: px4_msgs::msg::ModeCompleted
- topic: /fmu/in/config_control_setpoints
type: px4_msgs::msg::VehicleControlMode
# - topic: /fmu/in/distance_sensor
# type: px4_msgs::msg::DistanceSensor
- topic: /fmu/in/manual_control_input
type: px4_msgs::msg::ManualControlSetpoint
- topic: /fmu/in/offboard_control_mode
type: px4_msgs::msg::OffboardControlMode
- topic: /fmu/in/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/in/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/in/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/in/goto_setpoint
type: px4_msgs::msg::GotoSetpoint
- topic: /fmu/in/telemetry_status
type: px4_msgs::msg::TelemetryStatus
- topic: /fmu/in/trajectory_setpoint
type: px4_msgs::msg::TrajectorySetpoint
- topic: /fmu/in/vehicle_attitude_setpoint
type: px4_msgs::msg::VehicleAttitudeSetpoint
- topic: /fmu/in/vehicle_mocap_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/vehicle_visual_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_command
type: px4_msgs::msg::VehicleCommand
- topic: /fmu/in/vehicle_command_mode_executor
type: px4_msgs::msg::VehicleCommand
- 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
- topic: /fmu/in/fixed_wing_longitudinal_setpoint
type: px4_msgs::msg::FixedWingLongitudinalSetpoint
- topic: /fmu/in/fixed_wing_lateral_setpoint
type: px4_msgs::msg::FixedWingLateralSetpoint
- topic: /fmu/in/longitudinal_control_configuration
type: px4_msgs::msg::LongitudinalControlConfiguration
- topic: /fmu/in/lateral_control_configuration
type: px4_msgs::msg::LateralControlConfiguration
- topic: /fmu/in/rover_position_setpoint
type: px4_msgs::msg::RoverPositionSetpoint
- topic: /fmu/in/rover_speed_setpoint
type: px4_msgs::msg::RoverSpeedSetpoint
- topic: /fmu/in/rover_attitude_setpoint
type: px4_msgs::msg::RoverAttitudeSetpoint
- topic: /fmu/in/rover_rate_setpoint
type: px4_msgs::msg::RoverRateSetpoint
- topic: /fmu/in/rover_throttle_setpoint
type: px4_msgs::msg::RoverThrottleSetpoint
- topic: /fmu/in/rover_steering_setpoint
type: px4_msgs::msg::RoverSteeringSetpoint
- topic: /fmu/in/landing_gear
type: px4_msgs::msg::LandingGear
# Subscriptions multiplexed to uORB multi-instances (optionally demultiplexed based on a message field)
subscriptions_multi:
- topic: /fmu/in/aux_global_position
type: px4_msgs::msg::AuxGlobalPosition
route_field: id
max_instances: 4
- topic: /fmu/in/distance_sensor
type: px4_msgs::msg::DistanceSensor