I got the communication working between a pixracer pro and a xavier nx over serial. I notice that the
/fmu/out/vehicle_attitude comes in at around 200hz. I was wondering if there was a possibility to reduce this rate?
I see that there is a PR https://github.com/PX4/PX4-Autopilot/pull/21716 for this functionality. But it’s stale. Is there a different implementation for this?
I realized the latest changes implements this functionality here. Could I replace the uxrce_dds_client module in v1.14 and compile without risking potential bugs from latest main? I would like to test this on the real robot.
Or is there a better way to handle this? I am quite new to this, I apologize if this question is vague.
Edit: I tested that it works on SITL and was looking to get it working on the pixracer Pro.
I built main for pixracer with a tweaked
UXRCE_DEFAULT_POLL_RATE to achieve desired rate.
I’m not sure if it’s a wise decision but it’s working fine for now.