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AP_DDS: publish relative true airspeed to /ap/airspeed #28319

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AP_DDS: publish relative true airspeed to /ap/airspeed #28319

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tizianofiorenzani
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  • Publish the true airspeed as a 3D vector in body frame to the topic /ap/airspeed of type geometry_msgs/msg/Vector3.
  • Topic is published only if airspeed is available.
  • Code has been copied from GCS_Mavlink.

Test

  • colcon build --packages-up-to ardupilot_sitl
  • Launch the sitl with Plane and takeoff.
  • Echo the topic with ros2 topic echo /ap/airspeed

image

@tizianofiorenzani tizianofiorenzani mentioned this pull request Oct 5, 2024
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