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Dev: add ros2 topics rates #7733

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18 changes: 16 additions & 2 deletions dev/source/docs/ros2-interfaces.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -20,29 +20,34 @@ ArduPilot exposes "sensor" type data over DDS, that usually corresponds to a phy
<th>Topic Name</th>
<th>Topic Type</th>
<th>Description</th>
<th>Frequency</th>
</tr>
<tr>
<td>ap/navsat/navsat0</td>
<td>sensor_msgs/msg/NavSatFix</td>
<td>This is the reported GPS sensor position from the GPS subsystem.
TODO It will include a frame ID as instance number</td>
<td>GPS-driven</td>
</tr>
<tr>
<td>ap/battery</td>
<td>sensor_msgs/msg/BatteryState</td>
<td>This sends the battery state for each enabled battery.
The battery instance is available in the frame ID.
Each enabled battery will be have data published.
Each enabled battery will be have data published.</td>
<td>1 Hz</td>
</tr>
<tr>
<td>ap/imu/experimental/data</td>
<td>sensor_msgs/msg/IMU</td>
<td>This is the high rate IMU data from the IMU that is currently used in the EKF.</td>
<td>200 Hz</td>
</tr>
<tr>
<td>ap/airspeed</td>
<td>geometry_msgs/msg/Vector3Stamped</td>
<td>This is the 3D airspeed estimate of the vehicle in body frame.</td>
<td>30 Hz</td>
</tr>
</tbody>
</table>
Expand All @@ -58,32 +63,38 @@ Pose, Rates, and Coordinates
<th>Topic Name</th>
<th>Topic Type</th>
<th>Description</th>
<th>Frequency</th>
</tr>
<tr>
<td>ap/gps_global_origin/filtered</td>
<td>geographic_msgs/msg/GeoPointStamped</td>
<td>This is the filtered AHRS's inertial navigation origin. This is NOT the same ask the HOME location.
<td>This is the filtered AHRS's inertial navigation origin. This is NOT the same ask the HOME location.</td>
<td>1 Hz</td>
</tr>
<tr>
<td>ap/twist/filtered</td>
<td>geometry_msgs/msg/TwistStamped</td>
<td>This is the filtered AHRS's velocity in the local ENU frame relative to home.</td>
<td>30 Hz</td>
</tr>
<tr>
<td>ap/pose/filtered</td>
<td>geometry_msgs/msg/PoseStamped</td>
<td>This is the filtered AHRS's pose in the local ENU frame relative to home.</td>
<td>30 Hz</td>
</tr>
<tr>
<td>ap/geopose/filtered</td>
<td>geographic_msgs/msg/GeoPoseStamped</td>
<td>This is the filtered AHRS's pose (position+orientation) in global coordinates</td>
<td>30 Hz</td>
</tr>
<tr>
<td>ap/tf_static</td>
<td>tf2_msgs/msg/TFMessage</td>
<td>AP broadcasts its known static transforms on this topic.
The transforms include the GPS sensor offsets relative to the vehicle origin.</td>
<td>N/A</td>
</tr>
</tbody>
</table>
Expand All @@ -99,16 +110,19 @@ Time
<th>Topic Name</th>
<th>Topic Type</th>
<th>Description</th>
<th>Frequency</th>
</tr>
<tr>
<td>ap/time</td>
<td>builtin_interface/msg/Time</td>
<td>This sends time from AP's real time clock.</td>
<td>100 Hz</td>
</tr>
<tr>
<td>ap/clock</td>
<td>rosgraph_msgs/msg/Clock</td>
<td>This sends time from AP's real time clock in a format suitable for aligning ROS time of a companion computer.</td>
<td>100 Hz</td>
</tr>
</tbody>
</table>
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