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Auterion / px4-ros2-interface-lib

Library to interface with PX4 from a companion computer using ROS 2
BSD 3-Clause "New" or "Revised" License
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Checking PX4 messages at startup #44

Open damien-robotsix opened 2 weeks ago

damien-robotsix commented 2 weeks ago

Hello,

The compatibility of the PX4 messages are tested at startup but not their availability. I don't know to which extend it can be implemented but for now if one message if missing in the controller we get a throw when we ask for the last message for example with no previous warning. It would be nice to have a system to check that the required messages are really available on PX4 side at initialization.

If it exist already I doesn't work for vehicle_angular_velocity for example (did I miss something when I did the PR on this?)

Also the name of the topic in the throw would be a + :D

bkueng commented 1 week ago

There's no check yet. My preferred approach is to have a mechanism to request a message at a given update rate. And this could then also return an error if it's not available.