topics_gps.yaml

# Copyright (C) 2023 Martin Scheiber, Roland Jung,
# and others, Control of Networked Systems, University of Klagenfurt, Austria.
# 
# All rights reserved.
# 
# This software is licensed under the terms of the BSD-2-Clause-License with
# no commercial use allowed, the full terms of which are made available
# in the LICENSE file. No license in patents is granted.
# 
# You can contact the authors at <martin.scheiber@aau.at>, <roland.jung@aau.at>

# template_topic:
#   entity_id: /template
#   #  name of the entity
#   rate: 100
#   #  frequency in HZ:
#   margin: 0.1
#   #  rate delta allowed for non-critical failure relative to rate:
#   severity: 0
#   #  severity level of failure
#   node_name: /template_node
#   #  name of the rosnode associated with it
#   driver_name: template_driver
#   #  name of the driver associated with it

# // entity ids:
# // px4_gps
# // px4_imu
# // px4_mag
# // px4_bar
# // mission_cam
# // relasense
# // lsm9ds1
# // lrf
# // rtk_gps_1
# // rtk_gps_2

/mavros/imu/data_raw:
  entity_id: px4_imu
  rate: 200
  margin: 0.15
  node_name: /mavros
  window_size: 200

# /mavros/imu/static_pressure:
#   entity_id: px4_bar
#   rate: 18
#   margin: 0.3
#   node_name: /mavros

/mavros/global_position/raw/fix:
  entity_id: px4_gps
  rate: 5
  margin: 0.4
  node_name: /mavros