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uxrce_dds: support multi-instance uORB topics (#26305)

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uxrce_dds: improve DDS to uORB multi-instance routing and docs

* Route single DDS topic to multiple uORB instances via message field
* Document route_field → instance mapping
* Allow subscriptions_demux without route_field
* Rename subscriptions_demux → subscriptions_multi
* Update docs (ROS 2 wording, version tip, minor fixes)
This commit is contained in:
Marco Hauswirth
2026-03-03 15:57:24 +01:00
committed by GitHub
parent 43aa8de22b
commit 7f5de5d141
5 changed files with 104 additions and 37 deletions
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Tools/msg/generate_msg_docs.py
+12 -10
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@@ -833,11 +833,9 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
for message in data["subscriptions"]:
all_message_types.add(message['type'].split("::")[-1])
all_topics.add(message['topic'].split('/')[-1])
if data["subscriptions_multi"]: # There is none now
dds_markdown += "None\n"
for message in data["subscriptions_multi"]:
all_message_types.add(message['type'].split("::")[-1])
all_topics.add(message['topic'].split('/')[-1])
for message in (data.get("subscriptions_multi") or []):
all_message_types.add(message['type'].split("::")[-1])
all_topics.add(message['topic'].split('/')[-1])
for message in allMessageFiles:
all_messages_in_source.add(message.split('/')[-1].split('.')[0])
messagesNotExported = all_messages_in_source - all_message_types
@@ -874,13 +872,17 @@ Topic | Type| Rate Limit
dds_markdown += "\n## Subscriptions Multi\n\n"
if not data["subscriptions_multi"]: # There is none now
subscriptions_multi = data.get("subscriptions_multi") or []
if not subscriptions_multi:
dds_markdown += "None\n"
else:
print("Warning - we now have subscription_multi data - check format")
dds_markdown += "Topic | Type\n--- | ---\n"
for message in data["subscriptions_multi"]:
dds_markdown += f"{message['topic']} | {message['type']}\n"
dds_markdown += "Topic | Type | Route Field | Max Instances\n--- | --- | --- | ---\n"
for message in subscriptions_multi:
type = message['type']
px4Type = type.split("::")[-1]
route_field = f"`{message['route_field']}`" if 'route_field' in message else "-"
max_instances = message.get('max_instances', '-')
dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md) | {route_field} | {max_instances}\n"
if messagesNotExported:
# Print the topics that are not exported to DDS