From 233904f14edd096722b2ec62b9912e832ce46076 Mon Sep 17 00:00:00 2001 From: GuillaumeLaine Date: Tue, 27 May 2025 17:32:22 +0200 Subject: [PATCH 1/2] dds_topics: set more sensible ROS2 publication rate limits --- src/modules/uxrce_dds_client/dds_topics.yaml | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml index 86f638a45425..23cb5082dd96 100644 --- a/src/modules/uxrce_dds_client/dds_topics.yaml +++ b/src/modules/uxrce_dds_client/dds_topics.yaml @@ -10,9 +10,11 @@ publications: - 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 @@ -20,66 +22,80 @@ publications: - 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/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 - 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 - 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. # Create uORB::Publication subscriptions: From ed2d45c7638dfb9429122be80812a5d5042455f4 Mon Sep 17 00:00:00 2001 From: GuillaumeLaine Date: Tue, 27 May 2025 17:35:46 +0200 Subject: [PATCH 2/2] docs: update uxrce_dds rate_limit example to reflect firmware values --- docs/en/middleware/uxrce_dds.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/en/middleware/uxrce_dds.md b/docs/en/middleware/uxrce_dds.md index c24b67fa1e78..5af708102bfa 100644 --- a/docs/en/middleware/uxrce_dds.md +++ b/docs/en/middleware/uxrce_dds.md @@ -423,16 +423,17 @@ publications: - topic: /fmu/out/collision_constraints type: px4_msgs::msg::CollisionConstraints + rate_limit: 50. # Limit max publication rate to 50 Hz ... - topic: /fmu/out/vehicle_odometry type: px4_msgs::msg::VehicleOdometry - rate_limit: 150. + # Use default publication rate limit of 100 Hz - topic: /fmu/out/vehicle_status type: px4_msgs::msg::VehicleStatus - rate_limit: 50. + rate_limit: 5. - topic: /fmu/out/vehicle_trajectory_waypoint_desired type: px4_msgs::msg::VehicleTrajectoryWaypoint