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module.yaml
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module_name: UXRCE-DDS Client
serial_config:
- command: |
if [ $SERIAL_DEV != ethernet ]; then
set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
else
set UXRCE_DDS_ARGS "-t udp"
fi
uxrce_dds_client start ${UXRCE_DDS_ARGS}
port_config_param:
name: UXRCE_DDS_CFG
group: UXRCE-DDS Client
supports_networking: true
parameters:
- group: UXRCE-DDS Client
definitions:
UXRCE_DDS_DOM_ID:
description:
short: uXRCE-DDS domain ID
long: uXRCE-DDS domain ID
category: System
type: int32
reboot_required: true
default: 0
UXRCE_DDS_KEY:
description:
short: uXRCE-DDS session key
long: |
uXRCE-DDS key, must be different from zero.
In a single agent - multi client configuration, each client
must have a unique session key.
category: System
type: int32
reboot_required: true
default: 1
UXRCE_DDS_PRT:
description:
short: uXRCE-DDS UDP port
long: |
If ethernet is enabled and is the selected configuration for uXRCE-DDS,
the selected UDP port will be set and used.
type: int32
min: 0
max: 65535
reboot_required: true
default: 8888
requires_ethernet: true
UXRCE_DDS_AG_IP:
description:
short: uXRCE-DDS Agent IP address
long: |
If ethernet is enabled and is the selected configuration for uXRCE-DDS,
the selected Agent IP address will be set and used.
Decimal dot notation is not supported. IP address must be provided
in int32 format. For example, 192.168.1.2 is mapped to -1062731518;
127.0.0.1 is mapped to 2130706433.
type: int32
reboot_required: true
default: 2130706433
requires_ethernet: true
UXRCE_DDS_PTCFG:
description:
short: uXRCE-DDS participant configuration
long: |
Set the participant configuration on the Agent's system.
0: Use the default configuration.
1: Restrict messages to localhost
(use in combination with ROS_LOCALHOST_ONLY=1).
2: Use a custom participant with the profile name "px4_participant".
category: System
reboot_required: true
type: enum
values:
0: Default
1: Localhost-only
2: Custom participant
min: 0
max: 2
default: 0
UXRCE_DDS_SYNCT:
description:
short: Enable uXRCE-DDS timestamp synchronization
long: When enabled, uxrce_dds_client will synchronize the timestamps
of the incoming and outgoing messages measuring the offset
between the Agent OS time and the PX4 time.
type: boolean
category: System
reboot_required: true
default: 1
UXRCE_DDS_SYNCC:
description:
short: Enable uXRCE-DDS system clock synchronization
long: When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will
set the system clock using the agents UTC timestamp.
type: boolean
category: System
reboot_required: true
default: 0
UXRCE_DDS_TX_TO:
description:
short: TX rate timeout configuration
long: |
Specifies after how many seconds without sending data the DDS connection is reestablished.
A value less than one disables the TX rate timeout.
type: int32
category: System
reboot_required: true
default: 3
unit: s
UXRCE_DDS_RX_TO:
description:
short: RX rate timeout configuration
long: |
Specifies after how many seconds without receiving data the DDS connection is reestablished.
A value less than one disables the RX rate timeout.
type: int32
category: System
reboot_required: true
default: -1
unit: s
UXRCE_DDS_NS_IDX:
description:
short: Define an index-based message namespace
long: |
Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999
A value less than zero leaves the namespace empty
type: int32
min: -1
max: 9999
category: System
reboot_required: true
default: -1
UXRCE_DDS_FLCTRL:
description:
short: Enable serial flow control for UXRCE interface
long: |
This is used to enable flow control for the serial uXRCE instance.
Used for reliable high bandwidth communication.
type: boolean
category: System
reboot_required: true
default: 0