The current default configuration files mavros/launch/px4_config.yaml and mavros/launch/apm_config.yaml do not properly set the parameters for the node sys and time
This is because timesync_rate should be placed under /mavros/*/time instad of /mavros/*/conn.
In the end, all parameters of /mavros/*/conn should be moved either under /mavros/*/time or /mavros/*/sys in the config file
Issue details
The current default configuration files
mavros/launch/px4_config.yaml
andmavros/launch/apm_config.yaml
do not properly set the parameters for the nodesys
andtime
MAVROS version and platform
Mavros: 2.6.0 ROS: Humble Ubuntu: 22.04
Autopilot type and version
[x] ArduPilot [x] PX4
Version: N/A
Node logs
N/A
Diagnostics
N/A
Check ID
N/A
Expected behavior
The default configuration files (here for PX4 as example) set the
timesync_rate
to 10Hz: https://github.com/mavlink/mavros/blob/ded6c2ed9330c35893150b58bb0e9b19d574000f/mavros/launch/px4_config.yaml#L7C1-L13C87 However, that parameter is not actually used by theSystemTime
plugin as can be seen withros2 param dump /mavros/time
:This is because
timesync_rate
should be placed under/mavros/*/time
instad of/mavros/*/conn
. In the end, all parameters of/mavros/*/conn
should be moved either under/mavros/*/time
or/mavros/*/sys
in the config file