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ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles
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Add support for multi ID topics #197

Closed Jaeyoung-Lim closed 2 years ago

Jaeyoung-Lim commented 2 years ago

Problem Description uORB topics support multi instance publishing, however this pipeline does not consider this and always default to id = 0

This is a problem with the recent control allocation added in PX4 where actuator_outputs essentially are published by multiple entitites and therefore published on different channels

Proposed Solution This commit adds support for multi ID uorb topics. The ID of the topic can be now specified in the configuration file when specifying uORB topics

data:
    required_ulog_topics:
      actuator_outputs:
        id: 0

Additional Context

Jaeyoung-Lim commented 2 years ago

CI failures seem to be related to the tiltrotor checks that had ASL tiltrotor specific changes.