add more relevant messages to the RTPS stream

msg/templates/urtps/RtpsTopics.h.template

@@ -88,7 +88,7 @@ private:
 @[end for]@
 
     unsigned _next_sub_idx = 0;
-    char _sub_topics[@(len(recv_topics))] = {
+    unsigned char _sub_topics[@(len(recv_topics))] = {
 @[for topic in recv_topics]@
         @(rtps_message_id(ids, topic)), // @(topic)
 @[end for]@

msg/tools/uorb_rtps_message_ids.yaml

@@ -9,27 +9,36 @@ rtps:
     id: 3
   - msg: adc_report
     id: 4
+    send: true
   - msg: airspeed
     id: 5
     send: true
   - msg: battery_status
     id: 6
+    send: true
   - msg: camera_capture
     id: 7
+    receive: true
   - msg: camera_trigger
     id: 8
+    receive: true
   - msg: collision_report
     id: 9
+    receive: true
   - msg: commander_state
     id: 10
   - msg: cpuload
     id: 11
+    send: true
   - msg: debug_array
     id: 12
+    receive: true
   - msg: debug_key_value
     id: 13
+    receive: true
   - msg: debug_value
     id: 14
+    receive: true
   - msg: debug_vect
     id: 15
     receive: true
@@ -37,6 +46,7 @@ rtps:
     id: 16
   - msg: distance_sensor
     id: 17
+    send: true
   - msg: ekf2_innovations
     id: 18
   - msg: ekf2_timestamps
@@ -51,6 +61,7 @@ rtps:
     id: 23
   - msg: estimator_status
     id: 24
+    send: true
   - msg: follow_target
     id: 25
   - msg: geofence_result
@@ -61,10 +72,12 @@ rtps:
     id: 28
   - msg: home_position
     id: 29
+    send: true
   - msg: input_rc
     id: 30
   - msg: iridiumsbd_status
     id: 31
+    send: true
   - msg: irlock_report
     id: 32
   - msg: landing_target_innovation
@@ -89,6 +102,7 @@ rtps:
     id: 42
   - msg: obstacle_distance
     id: 43
+    receive: true
   - msg: offboard_control_mode
     id: 44
   - msg: optical_flow
@@ -104,8 +118,10 @@ rtps:
     id: 49
   - msg: position_setpoint
     id: 50
+    receive: true
   - msg: position_setpoint_triplet
     id: 51
+    receive: true
   - msg: power_button_state
     id: 52
   - msg: pwm_input
@@ -116,6 +132,7 @@ rtps:
     id: 55
   - msg: radio_status
     id: 56
+    send: true
   - msg: rate_ctrl_status
     id: 57
   - msg: rc_channels
@@ -126,6 +143,7 @@ rtps:
     id: 60
   - msg: satellite_info
     id: 61
+    send: true
   - msg: sensor_accel
     id: 62
   - msg: sensor_baro
@@ -165,6 +183,7 @@ rtps:
     id: 78
   - msg: trajectory_waypoint
     id: 79
+    receive: true
   - msg: transponder_report
     id: 80
   - msg: tune_control
@@ -181,6 +200,7 @@ rtps:
     id: 86
   - msg: vehicle_attitude
     id: 87
+    send: true
   - msg: vehicle_attitude_setpoint
     id: 88
   - msg: vehicle_command
@@ -193,6 +213,7 @@ rtps:
     id: 92
   - msg: vehicle_global_position
     id: 93
+    send: true
   - msg: vehicle_gps_position
     id: 94
   - msg: vehicle_land_detected
@@ -205,6 +226,7 @@ rtps:
     id: 98
   - msg: vehicle_odometry
     id: 99
+    send: true
   - msg: vehicle_rates_setpoint
     id: 100
   - msg: vehicle_roi
@@ -215,10 +237,16 @@ rtps:
     id: 103
   - msg: vehicle_trajectory_waypoint
     id: 104
+    receive: true
   - msg: vtol_vehicle_status
     id: 105
+    send: true
   - msg: wind_estimate
     id: 106
+    send: true
+  - msg: collision_constraints
+    id: 107
+    send: true
   # multi topics
   - msg: actuator_control0
     id: 120
@@ -238,21 +266,17 @@ rtps:
     id: 127
   - msg: vehicle_attitude_groundtruth
     id: 128
-  - msg: vehicle_vision_attitude
-    id: 129
   - msg: vehicle_global_position_groundtruth
-    id: 130
+    id: 129
   - msg: vehicle_local_position_groundtruth
+    id: 130
+  - msg: vehicle_mocap_odometry
     id: 131
-  # - msg: vehicle_mocap_odometry
-  #   id: 132
-  #
-  # - msg: vehicle_visual_odometry
-  #   id: 133
-  #
+  - msg: vehicle_visual_odometry
+    id: 132
   - msg: mc_virtual_rates_setpoint
-    id: 134
+    id: 133
   - msg: fw_virtual_rates_setpoint
-    id: 135
+    id: 134
   - msg: vehicle_trajectory_waypoint_desired
-    id: 136
+    id: 135