Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix usage of ROS namespaces #39

Merged
merged 1 commit into from
Jun 6, 2024
Merged

fix usage of ROS namespaces #39

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions .vscode/settings.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
{
"editor.formatOnSave": false
}
2 changes: 1 addition & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ Compatibility is only guaranteed if using latest `main` on the PX4 and px4_ros2/
The library checks for message compatibility on startup when registering a mode.
`ALL_PX4_ROS2_MESSAGES` defines the set of checked messages. If you use other messages, you can check them using:
```cpp
if (!px4_ros2::messageCompatibilityCheck(node, {{"/fmu/in/vehicle_rates_setpoint"}})) {
if (!px4_ros2::messageCompatibilityCheck(node, {{"fmu/in/vehicle_rates_setpoint"}})) {
throw std::runtime_error("Messages incompatible");
}
```
Expand Down
2 changes: 1 addition & 1 deletion examples/cpp/modes/rtl_replacement/include/mode.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ class FlightModeTest : public px4_ros2::ModeBase
: ModeBase(node, Settings{kName, true, ModeBase::kModeIDRtl})
{
_vehicle_land_detected_sub = node.create_subscription<px4_msgs::msg::VehicleLandDetected>(
"/fmu/out/vehicle_land_detected", rclcpp::QoS(1).best_effort(),
"fmu/out/vehicle_land_detected", rclcpp::QoS(1).best_effort(),
[this](px4_msgs::msg::VehicleLandDetected::UniquePtr msg) {
_landed = msg->landed;
});
Expand Down
52 changes: 26 additions & 26 deletions px4_ros2_cpp/include/px4_ros2/components/message_compatibility_check.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,31 +10,31 @@ using namespace std::chrono_literals; // NOLINT

// Set of all messages used by the library (<topic_name>[, <topic_type>])
#define ALL_PX4_ROS2_MESSAGES \
{"/fmu/in/actuator_motors"}, \
{"/fmu/in/actuator_servos"}, \
{"/fmu/in/arming_check_reply"}, \
{"/fmu/in/aux_global_position", "VehicleGlobalPosition"}, \
{"/fmu/in/config_control_setpoints", "VehicleControlMode"}, \
{"/fmu/in/config_overrides_request", "ConfigOverrides"}, \
{"/fmu/in/goto_setpoint"}, \
{"/fmu/in/mode_completed"}, \
{"/fmu/in/register_ext_component_request"}, \
{"/fmu/in/trajectory_setpoint"}, \
{"/fmu/in/unregister_ext_component"}, \
{"/fmu/in/vehicle_attitude_setpoint"}, \
{"/fmu/in/vehicle_command"}, \
{"/fmu/in/vehicle_command_mode_executor", "VehicleCommand"}, \
{"/fmu/in/vehicle_rates_setpoint"}, \
{"/fmu/in/vehicle_visual_odometry", "VehicleOdometry"}, \
{"/fmu/out/arming_check_request"}, \
{"/fmu/out/manual_control_setpoint"}, \
{"/fmu/out/mode_completed"}, \
{"/fmu/out/register_ext_component_reply"}, \
{"/fmu/out/vehicle_attitude"}, \
{"/fmu/out/vehicle_command_ack"}, \
{"/fmu/out/vehicle_global_position"}, \
{"/fmu/out/vehicle_local_position"}, \
{"/fmu/out/vehicle_status"}
{"fmu/in/actuator_motors"}, \
{"fmu/in/actuator_servos"}, \
{"fmu/in/arming_check_reply"}, \
{"fmu/in/aux_global_position", "VehicleGlobalPosition"}, \
{"fmu/in/config_control_setpoints", "VehicleControlMode"}, \
{"fmu/in/config_overrides_request", "ConfigOverrides"}, \
{"fmu/in/goto_setpoint"}, \
{"fmu/in/mode_completed"}, \
{"fmu/in/register_ext_component_request"}, \
{"fmu/in/trajectory_setpoint"}, \
{"fmu/in/unregister_ext_component"}, \
{"fmu/in/vehicle_attitude_setpoint"}, \
{"fmu/in/vehicle_command"}, \
{"fmu/in/vehicle_command_mode_executor", "VehicleCommand"}, \
{"fmu/in/vehicle_rates_setpoint"}, \
{"fmu/in/vehicle_visual_odometry", "VehicleOdometry"}, \
{"fmu/out/arming_check_request"}, \
{"fmu/out/manual_control_setpoint"}, \
{"fmu/out/mode_completed"}, \
{"fmu/out/register_ext_component_reply"}, \
{"fmu/out/vehicle_attitude"}, \
{"fmu/out/vehicle_command_ack"}, \
{"fmu/out/vehicle_global_position"}, \
{"fmu/out/vehicle_local_position"}, \
{"fmu/out/vehicle_status"}


namespace px4_ros2
Expand All @@ -45,7 +45,7 @@ namespace px4_ros2

struct MessageCompatibilityTopic
{
std::string topic_name; ///< e.g. "/fmu/out/vehicle_status"
std::string topic_name; ///< e.g. "fmu/out/vehicle_status"
std::string topic_type{""}; ///< e.g. VehicleStatus. If empty, it's inferred from the topic_name // NOLINT
};

Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/src/components/health_and_arming_checks.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,10 +21,10 @@ HealthAndArmingChecks::HealthAndArmingChecks(
_check_callback(std::move(check_callback))
{
_arming_check_reply_pub = _node.create_publisher<px4_msgs::msg::ArmingCheckReply>(
topic_namespace_prefix + "/fmu/in/arming_check_reply", 1);
topic_namespace_prefix + "fmu/in/arming_check_reply", 1);

_arming_check_request_sub = _node.create_subscription<px4_msgs::msg::ArmingCheckRequest>(
topic_namespace_prefix + "/fmu/out/arming_check_request",
topic_namespace_prefix + "fmu/out/arming_check_request",
rclcpp::QoS(1).best_effort(),
[this](px4_msgs::msg::ArmingCheckRequest::UniquePtr msg) {

Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/components/manual_control_input.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ ManualControlInput::ManualControlInput(Context & context, bool is_optional)

_manual_control_setpoint_sub =
context.node().create_subscription<px4_msgs::msg::ManualControlSetpoint>(
context.topicNamespacePrefix() + "/fmu/out/manual_control_setpoint", rclcpp::QoS(
context.topicNamespacePrefix() + "fmu/out/manual_control_setpoint", rclcpp::QoS(
1).best_effort(),
[this](px4_msgs::msg::ManualControlSetpoint::UniquePtr msg) {
_manual_control_setpoint = *msg;
Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/src/components/message_compatibility_check.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -229,13 +229,13 @@ bool messageCompatibilityCheck(
message_format_response_sub
=
node.create_subscription<px4_msgs::msg::MessageFormatResponse>(
topic_namespace_prefix + "/fmu/out/message_format_response", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/message_format_response", rclcpp::QoS(1).best_effort(),
[](px4_msgs::msg::MessageFormatResponse::UniquePtr msg) {});

const rclcpp::Publisher<px4_msgs::msg::MessageFormatRequest>::SharedPtr message_format_request_pub
=
node.create_publisher<px4_msgs::msg::MessageFormatRequest>(
topic_namespace_prefix + "/fmu/in/message_format_request", 1);
topic_namespace_prefix + "fmu/in/message_format_request", 1);

const std::string msgs_dir = ament_index_cpp::get_package_share_directory("px4_msgs");
if (msgs_dir.empty()) {
Expand Down
6 changes: 3 additions & 3 deletions px4_ros2_cpp/src/components/mode.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,16 +27,16 @@ ModeBase::ModeBase(
topic_namespace_prefix), _config_overrides(node, topic_namespace_prefix)
{
_vehicle_status_sub = node.create_subscription<px4_msgs::msg::VehicleStatus>(
topic_namespace_prefix + "/fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
[this](px4_msgs::msg::VehicleStatus::UniquePtr msg) {
if (_registration->registered()) {
vehicleStatusUpdated(msg);
}
});
_mode_completed_pub = node.create_publisher<px4_msgs::msg::ModeCompleted>(
topic_namespace_prefix + "/fmu/in/mode_completed", 1);
topic_namespace_prefix + "fmu/in/mode_completed", 1);
_config_control_setpoints_pub = node.create_publisher<px4_msgs::msg::VehicleControlMode>(
topic_namespace_prefix + "/fmu/in/config_control_setpoints", 1);
topic_namespace_prefix + "fmu/in/config_control_setpoints", 1);
}

ModeBase::ModeID ModeBase::id() const
Expand Down
8 changes: 4 additions & 4 deletions px4_ros2_cpp/src/components/mode_executor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,18 +25,18 @@ ModeExecutorBase::ModeExecutorBase(
_config_overrides(node, topic_namespace_prefix)
{
_vehicle_status_sub = _node.create_subscription<px4_msgs::msg::VehicleStatus>(
topic_namespace_prefix + "/fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
[this](px4_msgs::msg::VehicleStatus::UniquePtr msg) {
if (_registration->registered()) {
vehicleStatusUpdated(msg);
}
});

_vehicle_command_pub = _node.create_publisher<px4_msgs::msg::VehicleCommand>(
topic_namespace_prefix + "/fmu/in/vehicle_command_mode_executor", 1);
topic_namespace_prefix + "fmu/in/vehicle_command_mode_executor", 1);

_vehicle_command_ack_sub = _node.create_subscription<px4_msgs::msg::VehicleCommandAck>(
topic_namespace_prefix + "/fmu/out/vehicle_command_ack", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/vehicle_command_ack", rclcpp::QoS(1).best_effort(),
[](px4_msgs::msg::VehicleCommandAck::UniquePtr msg) {});
}

Expand Down Expand Up @@ -397,7 +397,7 @@ ModeExecutorBase::ScheduledMode::ScheduledMode(
const std::string & topic_namespace_prefix)
{
_mode_completed_sub = node.create_subscription<px4_msgs::msg::ModeCompleted>(
topic_namespace_prefix + "/fmu/out/mode_completed", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/mode_completed", rclcpp::QoS(1).best_effort(),
[this, &node](px4_msgs::msg::ModeCompleted::UniquePtr msg) {
if (active() && msg->nav_state == static_cast<uint8_t>(_mode_id)) {
RCLCPP_DEBUG(
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/components/overrides.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ ConfigOverrides::ConfigOverrides(rclcpp::Node & node, const std::string & topic_
: _node(node)
{
_config_overrides_pub = _node.create_publisher<px4_msgs::msg::ConfigOverrides>(
topic_namespace_prefix + "/fmu/in/config_overrides_request", 1);
topic_namespace_prefix + "fmu/in/config_overrides_request", 1);
}

void ConfigOverrides::controlAutoDisarm(bool enabled)
Expand Down
6 changes: 3 additions & 3 deletions px4_ros2_cpp/src/components/registration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,17 +18,17 @@ Registration::Registration(rclcpp::Node & node, const std::string & topic_namesp
{
_register_ext_component_reply_sub =
node.create_subscription<px4_msgs::msg::RegisterExtComponentReply>(
topic_namespace_prefix + "/fmu/out/register_ext_component_reply",
topic_namespace_prefix + "fmu/out/register_ext_component_reply",
rclcpp::QoS(1).best_effort(),
[](px4_msgs::msg::RegisterExtComponentReply::UniquePtr msg) {
});

_register_ext_component_request_pub =
node.create_publisher<px4_msgs::msg::RegisterExtComponentRequest>(
topic_namespace_prefix + "/fmu/in/register_ext_component_request", 1);
topic_namespace_prefix + "fmu/in/register_ext_component_request", 1);

_unregister_ext_component_pub = node.create_publisher<px4_msgs::msg::UnregisterExtComponent>(
topic_namespace_prefix + "/fmu/in/unregister_ext_component", 1);
topic_namespace_prefix + "fmu/in/unregister_ext_component", 1);

_unregister_ext_component.mode_id = px4_ros2::ModeBase::kModeIDInvalid;
}
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/components/wait_for_fmu.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ bool waitForFMU(
RCLCPP_INFO(node.get_logger(), "Waiting for FMU...");
const rclcpp::Subscription<px4_msgs::msg::VehicleStatus>::SharedPtr vehicle_status_sub =
node.create_subscription<px4_msgs::msg::VehicleStatus>(
topic_namespace_prefix + "/fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
[](px4_msgs::msg::VehicleStatus::UniquePtr msg) {});

rclcpp::WaitSet wait_set;
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/control/peripheral_actuators.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ PeripheralActuatorControls::PeripheralActuatorControls(Context & context)
: _node(context.node())
{
_vehicle_command_pub = _node.create_publisher<px4_msgs::msg::VehicleCommand>(
context.topicNamespacePrefix() + "/fmu/in/vehicle_command", 1);
context.topicNamespacePrefix() + "fmu/in/vehicle_command", 1);
_last_update = _node.get_clock()->now();
}

Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/src/control/setpoint_types/direct_actuators.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,9 @@ DirectActuatorsSetpointType::DirectActuatorsSetpointType(Context & context)
: SetpointBase(context), _node(context.node())
{
_actuator_motors_pub = context.node().create_publisher<px4_msgs::msg::ActuatorMotors>(
context.topicNamespacePrefix() + "/fmu/in/actuator_motors", 1);
context.topicNamespacePrefix() + "fmu/in/actuator_motors", 1);
_actuator_servos_pub = context.node().create_publisher<px4_msgs::msg::ActuatorServos>(
context.topicNamespacePrefix() + "/fmu/in/actuator_servos", 1);
context.topicNamespacePrefix() + "fmu/in/actuator_servos", 1);
}

void DirectActuatorsSetpointType::updateMotors(
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ AttitudeSetpointType::AttitudeSetpointType(Context & context)
{
_vehicle_attitude_setpoint_pub =
context.node().create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>(
context.topicNamespacePrefix() + "/fmu/in/vehicle_attitude_setpoint", 1);
context.topicNamespacePrefix() + "fmu/in/vehicle_attitude_setpoint", 1);
}

void AttitudeSetpointType::update(
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ RatesSetpointType::RatesSetpointType(Context & context)
{
_vehicle_rates_setpoint_pub =
context.node().create_publisher<px4_msgs::msg::VehicleRatesSetpoint>(
context.topicNamespacePrefix() + "/fmu/in/vehicle_rates_setpoint", 1);
context.topicNamespacePrefix() + "fmu/in/vehicle_rates_setpoint", 1);
}

void RatesSetpointType::update(
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/control/setpoint_types/experimental/trajectory.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ TrajectorySetpointType::TrajectorySetpointType(Context & context)
: SetpointBase(context), _node(context.node())
{
_trajectory_setpoint_pub = context.node().create_publisher<px4_msgs::msg::TrajectorySetpoint>(
context.topicNamespacePrefix() + "/fmu/in/trajectory_setpoint", 1);
context.topicNamespacePrefix() + "fmu/in/trajectory_setpoint", 1);
}

void TrajectorySetpointType::update(
Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/src/control/setpoint_types/goto.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ GotoSetpointType::GotoSetpointType(Context & context)
{
_goto_setpoint_pub =
context.node().create_publisher<px4_msgs::msg::GotoSetpoint>(
context.topicNamespacePrefix() + "/fmu/in/goto_setpoint", 1);
context.topicNamespacePrefix() + "fmu/in/goto_setpoint", 1);
}

void GotoSetpointType::update(
Expand Down Expand Up @@ -84,7 +84,7 @@ void GotoGlobalSetpointType::update(
if (!_map_projection->isInitialized()) {
RCLCPP_ERROR_ONCE(
_node.get_logger(),
"Goto global setpoint update failed: map projection is uninitialized. Is /fmu/out/vehicle_local_position published?");
"Goto global setpoint update failed: map projection is uninitialized. Is fmu/out/vehicle_local_position published?");
return;
}

Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/navigation/experimental/global_position_measurement_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ GlobalPositionMeasurementInterface::GlobalPositionMeasurementInterface(rclcpp::N
{
_aux_global_position_pub =
node.create_publisher<VehicleGlobalPosition>(
topicNamespacePrefix() + "/fmu/in/aux_global_position", 10);
topicNamespacePrefix() + "fmu/in/aux_global_position", 10);
}

void GlobalPositionMeasurementInterface::update(
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/navigation/experimental/local_position_measurement_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ LocalPositionMeasurementInterface::LocalPositionMeasurementInterface(
_velocity_frame(velocityFrameToMessageFrame(velocity_frame))
{
_aux_local_position_pub = node.create_publisher<AuxLocalPosition>(
topicNamespacePrefix() + "/fmu/in/vehicle_visual_odometry", 10);
topicNamespacePrefix() + "fmu/in/vehicle_visual_odometry", 10);
}

void LocalPositionMeasurementInterface::update(
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/odometry/attitude.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ namespace px4_ros2
{

OdometryAttitude::OdometryAttitude(Context & context)
: Subscription<px4_msgs::msg::VehicleAttitude>(context, "/fmu/out/vehicle_attitude")
: Subscription<px4_msgs::msg::VehicleAttitude>(context, "fmu/out/vehicle_attitude")
{
RequirementFlags requirements{};
requirements.attitude = true;
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/odometry/global_position.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ namespace px4_ros2
{

OdometryGlobalPosition::OdometryGlobalPosition(Context & context)
: Subscription<px4_msgs::msg::VehicleGlobalPosition>(context, "/fmu/out/vehicle_global_position")
: Subscription<px4_msgs::msg::VehicleGlobalPosition>(context, "fmu/out/vehicle_global_position")
{
RequirementFlags requirements{};
requirements.global_position = true;
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/odometry/local_position.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ namespace px4_ros2
{

OdometryLocalPosition::OdometryLocalPosition(Context & context)
: Subscription<px4_msgs::msg::VehicleLocalPosition>(context, "/fmu/out/vehicle_local_position")
: Subscription<px4_msgs::msg::VehicleLocalPosition>(context, "fmu/out/vehicle_local_position")
{
RequirementFlags requirements{};
requirements.local_position = true;
Expand Down
2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/utils/geodesic.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ MapProjection::MapProjection(Context & context)
{
_map_projection_math = std::make_unique<MapProjectionImpl>();
_vehicle_local_position_sub = _node.create_subscription<px4_msgs::msg::VehicleLocalPosition>(
"/fmu/out/vehicle_local_position", rclcpp::QoS(1).best_effort(),
"fmu/out/vehicle_local_position", rclcpp::QoS(1).best_effort(),
[this](px4_msgs::msg::VehicleLocalPosition::UniquePtr msg) {
vehicleLocalPositionCallback(std::move(msg));
});
Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/test/integration/global_navigation.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ class GlobalPositionInterfaceTest : public BaseTest

// Subscribe to PX4 EKF estimator status flags
_subscriber = _node->create_subscription<EstimatorStatusFlags>(
"/fmu/out/estimator_status_flags", rclcpp::QoS(10).best_effort(),
"fmu/out/estimator_status_flags", rclcpp::QoS(10).best_effort(),
[this](EstimatorStatusFlags::UniquePtr msg) {
_estimator_status_flags = std::move(msg);
});
Expand Down Expand Up @@ -84,7 +84,7 @@ class GlobalPositionInterfaceTest : public BaseTest

if (elapsed_time >= kTimeoutDuration) {
ASSERT_NE(_estimator_status_flags, nullptr) <<
"Missing feedback from PX4: no estimator status flags published over /fmu/out/estimator_status_flags.";
"Missing feedback from PX4: no estimator status flags published over fmu/out/estimator_status_flags.";
EXPECT_TRUE(is_fused_getter(_estimator_status_flags)) <<
"Position measurement update was not fused into the PX4 EKF.";
break;
Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/test/integration/local_navigation.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ class LocalPositionInterfaceTest : public BaseTest

// Subscribe to PX4 EKF estimator status flags
_subscriber = _node->create_subscription<EstimatorStatusFlags>(
"/fmu/out/estimator_status_flags", rclcpp::QoS(10).best_effort(),
"fmu/out/estimator_status_flags", rclcpp::QoS(10).best_effort(),
[this](EstimatorStatusFlags::UniquePtr msg) {
_estimator_status_flags = std::move(msg);
});
Expand Down Expand Up @@ -91,7 +91,7 @@ class LocalPositionInterfaceTest : public BaseTest

if (elapsed_time >= kTimeoutDuration) {
ASSERT_NE(_estimator_status_flags, nullptr) <<
"Missing feedback from PX4: no estimator status flags published over /fmu/out/estimator_status_flags.";
"Missing feedback from PX4: no estimator status flags published over fmu/out/estimator_status_flags.";
EXPECT_TRUE(is_fused_getter(_estimator_status_flags)) <<
"Position measurement update was not fused into the PX4 EKF.";
break;
Expand Down
4 changes: 2 additions & 2 deletions px4_ros2_cpp/test/integration/util.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ VehicleState::VehicleState(rclcpp::Node & node, const std::string & topic_namesp
: _node(node)
{
_vehicle_status_sub = _node.create_subscription<px4_msgs::msg::VehicleStatus>(
topic_namespace_prefix + "/fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
topic_namespace_prefix + "fmu/out/vehicle_status", rclcpp::QoS(1).best_effort(),
[this](px4_msgs::msg::VehicleStatus::UniquePtr msg) {
if (_on_vehicle_status_update) {
_on_vehicle_status_update(msg);
Expand All @@ -43,7 +43,7 @@ VehicleState::VehicleState(rclcpp::Node & node, const std::string & topic_namesp
});

_vehicle_command_pub = _node.create_publisher<px4_msgs::msg::VehicleCommand>(
topic_namespace_prefix + "/fmu/in/vehicle_command", 1);
topic_namespace_prefix + "fmu/in/vehicle_command", 1);

}

Expand Down
2 changes: 1 addition & 1 deletion scripts/check-used-topics.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ def extract_topics_from_file(filename: str, extract_start_after: str = None,

ret = []
for line in file:
m = re.search(r'"/fmu/(in|out)/([^"]+)', line)
m = re.search(r'"fmu/(in|out)/([^"]+)', line)
if m:
ret.append(m.group(2))

Expand Down
Loading