uxrce_dds: support multi-instance uORB topics #26305

haumarco · 2026-01-20T16:37:48Z

This PR is part of the split up of #26151

Solved Problem

The DDS bridge could only map single-instance uORB topics to DDS topics. This prevented external systems from publishing multiple instances of the same message type (e.g., multiple positioning sources) through separate DDS topics.

Solution

This PR adds multi-instance uORB topic support to the DDS bridge:

Topic mapping configuration
- New instances field to specify number of topic instances
- Suffix pattern support (e.g., _A, _B, _C, _D) for DDS topic names
- Backward compatible: single-instance topics work as before
Code generation updates
- Generates PublicationMulti arrays for multi-instance subscriptions
- Maps multiple DDS topics to single uORB topic with instance field
- Example: /fmu/in/aux_global_position_A → aux_global_position instance 0

Changelog Entry

For release notes:

Feature: Multi-instance uORB topic support in DDS bridge
- New dds_topics.yaml syntax: `instances: 4` with `suffix: ["_A", "_B", "_C", "_D"]`
- Enables external systems to publish multiple instances of same message type

Test coverage

Tested with aux_global_position topic configured for 4 instances.

Additional Notes

This is a prerequisite for multi-instance AGP fusion in EKF2. The same pattern can be extended to other multi-instance topics (e.g., distance sensors, external odometry sources).

beniaminopozzan

Thanks for splitting them up @haumarco !

This looks good to me but I'll approve once #26306 is merged

Add dedicated message type for auxiliary global position sources. Separates aux_global_position from VehicleGlobalPosition topic. Includes source field for identifying position source type.

Add per-instance parameters (ID, CTRL, MODE, DELAY, NOISE, GATE) for up to 4 auxiliary global position sources.

- Refactor aux_global_position into manager + per-source AgpSource class - Support up to 4 independent AGP sources simultaneously - Dynamic parameter lookup without boilerplate switch statements - Per-source state tracking and fusion logic - Update simulator to use new AuxGlobalPosition message

Enable DDS bridge to handle multi-instance uORB topics by mapping multiple topic instances to a single DDS topic with instance field.

github-actions · 2026-01-21T16:40:50Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 2016 byte (0.1 %)]

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px4_fmu-v6x [Total VM Diff: 1968 byte (0.1 %)]

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--------------  -------------- 
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Updated: 2026-01-21T16:40:49

bkueng · 2026-01-22T08:24:32Z

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp

+}

-						ekf.resetAidSourceStatusZeroInnovation(aid_src);
+int32_t AuxGlobalPosition::getModeParam(int instance)


From what I see these can be called frequently and thus should be cached (specifically the param_get(param_find calls).

haumarco requested review from beniaminopozzan and bkueng January 20, 2026 16:37

This was referenced Jan 20, 2026

EKF2: support multiple AGP sources #26306

Open

EKF2: Multi-instance AGP fusion #26151

Closed

beniaminopozzan reviewed Jan 20, 2026

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haumarco added 4 commits January 21, 2026 14:36

uorb: add AuxGlobalPosition message

7a3701d

Add dedicated message type for auxiliary global position sources. Separates aux_global_position from VehicleGlobalPosition topic. Includes source field for identifying position source type.

ekf2: add multi-instance AGP parameters

a9fdf8c

Add per-instance parameters (ID, CTRL, MODE, DELAY, NOISE, GATE) for up to 4 auxiliary global position sources.

uxrce_dds: support multi-instance uORB topics

7e8de5e

Enable DDS bridge to handle multi-instance uORB topics by mapping multiple topic instances to a single DDS topic with instance field.

haumarco force-pushed the dds-multi-topic branch from e12ad30 to 7e8de5e Compare January 21, 2026 16:30

bkueng reviewed Jan 22, 2026

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uxrce_dds: support multi-instance uORB topics #26305

uxrce_dds: support multi-instance uORB topics #26305

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haumarco commented Jan 20, 2026

Solved Problem

Solution

Changelog Entry

Test coverage

Additional Notes

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