docs: Zenoh middleware guide #25737
docs: Zenoh middleware guide #25737
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PetervdPerk-NXP
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| https://docs.px4.io/main/en/modules/modules_driver.html#zenoh | ||
| category: System | ||
| type: int32 | ||
| type: boolean |
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This was a bit messed up. I think this is the right way to do a boolean - and you should use either a boolean or an enum when you only want particular values.
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Hm interesting I though PX4 always only had float and int32, didn't knew boolean worked.
So yeah boolean is way better.
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Great. Enum works too if you think there might be other configuration you want to do through the param later.
It gets converted into an INT32 by the toolchain
docs/en/middleware/dds_topics.md
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| The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default). | ||
| The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zeroh](../modules/modules_driver.html#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default). |
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This is the only change of relevance here. The rest added by prettier.
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| | PX4 Target | Notes | | ||
| | ---------------------- | ------------------------------------------------------------------------------------------- | | ||
| | `px4_fmu-v6xrt` | For [FMUv6X-RT](../flight_controller/nxp_mr_vmu_rt1176.md) (reference platform for testing) | |
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We don't recommend particular platforms unless it won't work on other platforms. I've called this a reference platform for testing, which it is.
| You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file. | ||
| For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91). | ||
| If it is not present you can add this key to your board configuration and rebuild. |
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Section rewritten so people can try this on any board if that is what they have.
If I did this for fmu-v5 build target, would I need to:
- Remove the uXRCE-DDS module?
- Any thing else to get it working
Essentially, what level of coexistence can this have with the DDS alternative?
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You can check if the module is present on your board by searching for the key
CONFIG_MODULES_ZENOH=yin your board'sdefault.px4boardKConfig file.
Indeed the text above described it correctly. Overall both Zenoh and uXRCE-DDS are perfectly capable to co-exist. However simply due to flash constraints they can't be integrated in the same build. The targets in the table below have enough flash and thus have it enabled in their default builds.
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That is worth adding. Will add tomorrow. Thanks!
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| Set up PX4 to connect to the companion computer running `zenohd`. | ||
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| PX4's default IP address of the Zenoh daemon host is `192.168.1.104`. |
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I assume this is the default.
| | `nxp_tropic-community` | | | ||
| | `nxp_mr-tropic` | | | ||
| | `nxp_mr-canhubk344` | | |
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I don't know what these are for. If that is useful perhaps add note (it might be something that NXP users will already know about).
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No flaws found |
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Adds documentation on how to use Zenoh in PX4 since #24476
@hamishwillee is this the correct way to add a new page to the sidebar?