From ca765377761bffedba97ba3e5db97e1bf01174ba Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Fri, 31 Jan 2025 16:00:26 +1100 Subject: [PATCH] Update en/ros2/px4_ros2_msg_translation_node.md --- en/ros2/px4_ros2_msg_translation_node.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/en/ros2/px4_ros2_msg_translation_node.md b/en/ros2/px4_ros2_msg_translation_node.md index c981bc1650b7..adf57f5db5ef 100644 --- a/en/ros2/px4_ros2_msg_translation_node.md +++ b/en/ros2/px4_ros2_msg_translation_node.md @@ -442,10 +442,12 @@ For translations with multiple input topics, the translation continues once all - Services messages only support a linear history, i.e. no message splitting or merging. - Having both publishers and subscribers for two different versions of the same topic is currently not handled by the translation node and would trigger infinite circular publications. This refers to the following problematic configuration: + ``` app 1: pub topic_v1, sub topic_v1 app 2: pub topic_v2, sub topic_v2 ``` + In practice this configuration is unlikely to occur because ROS topics shared with the FMU are intended to be directional (e.g. `/fmu/out/vehicle_status` or `/fmu/in/trajectory_setpoint`), therefore apps typically do not publish and subscribe simultaneously to the same topic. The translation node could be extended to handle this corner-case if required.