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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

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- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
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msg/TimesyncStatus.msg
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uint64 timestamp # time since system start (microseconds)
uint8 SOURCE_PROTOCOL_UNKNOWN = 0
uint8 SOURCE_PROTOCOL_MAVLINK = 1
uint8 SOURCE_PROTOCOL_DDS = 2
uint8 source_protocol # timesync source
uint64 remote_timestamp # remote system timestamp (microseconds)
int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds)
int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds)
uint32 round_trip_time # round trip time of this timesync packet (microseconds)