Hi all,
I’m using PX4 v1.12.3, Ubuntu 18.04, FastDDS v2.0.2, openjdk 11, foonathan_memory_vendor, ROS Melodic, px4_msgs ros1 branch
I’m trying to generate trajectory_setpoint’s classes using with FastRTPS-Gen.
trajectory_setpoint’s base message is vehicle_local_position_setpoint.
But they have different data types.
trajectory_setpoint:
vehicle_local_position_setpoint:
Generated .cxx files based on the below IDL message.
uint64 timestamp
float32 x
float32 y
float32 z
float32 vx
float32 vy
float32 vz
float32[3] acceleration
float32[3] thrust
float32 yaw
float32 yawspeed
But ros1 px4_msgs’ data types are different. It has a position and velocity array
uint64 timestamp
float32[3] position
float32[3] velocity
float32[3] acceleration
float32[3] jerk
float32 yaw
float32 yawspeed
Also px4_msgs ros1 and ros2 different data types.
-
px4_msgs/TrajectorySetpoint.msg at ros1 · PX4/px4_msgs · GitHub
-
px4_msgs/TrajectorySetpoint.msg at ros2 · PX4/px4_msgs · GitHub
which is the correct/accepted message definition by PX4 v1.12.3 for using with FastRTPS-Gen? OR how can I fix this?