uxrce_client: option to set publication rate per topic#24765
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awesome! |
beniaminopozzan
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beniaminopozzan
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Thanks @GuillaumeLaine !
Because you added publish_interval_ms, could you set it immediately during the generation of dds_topic.h to either the desired interval 1e3/rate_limit or the default interval so that later on you just call orb_set_interval(fds[idx].fd, send_subscriptions[idx].publish_interval_ms) ?
No need to have check the values twice.
While you are on it, could you rename UXRCE_DEFAULT_POLL_RATE to UXRCE_DEFAULT_POLL_INTERVAL_MS?
Thanks!
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Don't forget an associated docs update please @GuillaumeLaine |
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Other PR that was closed for the same feature: #23473 (posting for visibility) |
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@beniaminopozzan Thanks for your suggestion, I've applied it EDIT: I was just told docs are now pushed to this repo directly. I've pushed the docs here and closing the other docs PR |
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No flaws found |
sfuhrer
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sfuhrer
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Looks good to me, would appreciate another review by @beniaminopozzan though as he previously requested changes.
beniaminopozzan
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beniaminopozzan
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LGTM!
Thanks @GuillaumeLaine !
| @@ -428,9 +428,11 @@ publications: | |||
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| - topic: /fmu/out/vehicle_odometry | |||
| type: px4_msgs::msg::VehicleOdometry | |||
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FWIW, this all looks good.
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Changes
rate_limit(Hz) indds_topics.yamlUXRCE_DEFAULT_POLL_RATE = 10ms / 100Hz across all topicsUXRCE_DEFAULT_POLL_RATE->UXRCE_DEFAULT_POLL_INTERVAL_MSfor clarity, because it could suggest being a frequency rather than a time intervalRelated Discussions