Remove uorb topics exclusively used for avoidance

- TrajectoryBezier.msg - TrajectoryWaypoint.msg - VehicleTrajectoryBezier.msg - VehicleTrajectoryWaypoint.msg Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream. Signed-off-by: Silvan <[email protected]>
PX4 · Jan 10, 2025 · 4998fe9 · 4998fe9
1 parent 73962b8
commit 4998fe9
Show file tree

Hide file tree

Showing 14 changed files with 0 additions and 296 deletions.
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -210,8 +210,6 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
-	TrajectoryBezier.msg
-	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
@@ -231,8 +229,6 @@ set(msg_files
 	VehicleRoi.msg
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
-	VehicleTrajectoryBezier.msg
-	VehicleTrajectoryWaypoint.msg
 	VelocityLimits.msg
 	WheelEncoders.msg
 	Wind.msg

diff --git a/msg/TrajectoryBezier.msg b/msg/TrajectoryBezier.msg
diff --git a/msg/TrajectoryWaypoint.msg b/msg/TrajectoryWaypoint.msg
diff --git a/msg/VehicleTrajectoryBezier.msg b/msg/VehicleTrajectoryBezier.msg
diff --git a/msg/VehicleTrajectoryWaypoint.msg b/msg/VehicleTrajectoryWaypoint.msg
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -327,8 +327,6 @@ void LoggedTopics::add_vision_and_avoidance_topics()
 	add_topic("obstacle_distance_fused");
 	add_topic("obstacle_distance");
 	add_topic("vehicle_mocap_odometry", 30);
-	add_topic("vehicle_trajectory_waypoint", 200);
-	add_topic("vehicle_trajectory_waypoint_desired", 200);
 	add_topic("vehicle_visual_odometry", 30);
 }
 

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -1525,7 +1525,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("SYS_STATUS", 5.0f);
 		configure_stream_local("SYSTEM_TIME", 1.0f);
 		configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f);
-		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
 		configure_stream_local("VFR_HUD", 10.0f);
 		configure_stream_local("VIBRATION", 0.5f);
 		configure_stream_local("WIND_COV", 10.0f);
@@ -1592,7 +1591,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("RC_CHANNELS", 5.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream_local("SYS_STATUS", 5.0f);
-		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
 		configure_stream_local("VFR_HUD", 4.0f);
 		configure_stream_local("VIBRATION", 0.5f);
 		configure_stream_local("WIND_COV", 1.0f);
@@ -1783,7 +1781,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("SYS_STATUS", 5.0f);
 		configure_stream_local("SYSTEM_TIME", 2.0f);
 		configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f);
-		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
 		configure_stream_local("VFR_HUD", 4.0f);
 		configure_stream_local("VIBRATION", 0.5f);
 		configure_stream_local("WIND_COV", 1.0f);

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
@@ -116,7 +116,6 @@
 #include "streams/SYSTEM_TIME.hpp"
 #include "streams/TIME_ESTIMATE_TO_TARGET.hpp"
 #include "streams/TIMESYNC.hpp"
-#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
 #include "streams/VFR_HUD.hpp"
 #include "streams/VIBRATION.hpp"
 #include "streams/WIND_COV.hpp"
@@ -382,9 +381,6 @@ static const StreamListItem streams_list[] = {
 #if defined(MANUAL_CONTROL_HPP)
 	create_stream_list_item<MavlinkStreamManualControl>(),
 #endif // MANUAL_CONTROL_HPP
-#if defined(TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP)
-	create_stream_list_item<MavlinkStreamTrajectoryRepresentationWaypoints>(),
-#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
 #if defined(OPTICAL_FLOW_RAD_HPP)
 	create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
 #endif // OPTICAL_FLOW_RAD_HPP

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -256,14 +256,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_tunnel(msg);
 		break;
 
-	case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER:
-		handle_message_trajectory_representation_bezier(msg);
-		break;
-
-	case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
-		handle_message_trajectory_representation_waypoints(msg);
-		break;
-
 	case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
 		handle_message_onboard_computer_status(msg);
 		break;
@@ -1988,64 +1980,6 @@ MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg)
 
 }
 
-void
-MavlinkReceiver::handle_message_trajectory_representation_bezier(mavlink_message_t *msg)
-{
-	mavlink_trajectory_representation_bezier_t trajectory;
-	mavlink_msg_trajectory_representation_bezier_decode(msg, &trajectory);
-
-	vehicle_trajectory_bezier_s trajectory_bezier{};
-
-	trajectory_bezier.timestamp =  _mavlink_timesync.sync_stamp(trajectory.time_usec);
-
-	for (int i = 0; i < vehicle_trajectory_bezier_s::NUMBER_POINTS; ++i) {
-		trajectory_bezier.control_points[i].position[0] = trajectory.pos_x[i];
-		trajectory_bezier.control_points[i].position[1] = trajectory.pos_y[i];
-		trajectory_bezier.control_points[i].position[2] = trajectory.pos_z[i];
-
-		trajectory_bezier.control_points[i].delta = trajectory.delta[i];
-		trajectory_bezier.control_points[i].yaw = trajectory.pos_yaw[i];
-	}
-
-	trajectory_bezier.bezier_order = math::min(trajectory.valid_points, vehicle_trajectory_bezier_s::NUMBER_POINTS);
-	_trajectory_bezier_pub.publish(trajectory_bezier);
-}
-
-void
-MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_message_t *msg)
-{
-	mavlink_trajectory_representation_waypoints_t trajectory;
-	mavlink_msg_trajectory_representation_waypoints_decode(msg, &trajectory);
-
-	vehicle_trajectory_waypoint_s trajectory_waypoint{};
-
-	const int number_valid_points = math::min(trajectory.valid_points, vehicle_trajectory_waypoint_s::NUMBER_POINTS);
-
-	for (int i = 0; i < number_valid_points; ++i) {
-		trajectory_waypoint.waypoints[i].position[0] = trajectory.pos_x[i];
-		trajectory_waypoint.waypoints[i].position[1] = trajectory.pos_y[i];
-		trajectory_waypoint.waypoints[i].position[2] = trajectory.pos_z[i];
-
-		trajectory_waypoint.waypoints[i].velocity[0] = trajectory.vel_x[i];
-		trajectory_waypoint.waypoints[i].velocity[1] = trajectory.vel_y[i];
-		trajectory_waypoint.waypoints[i].velocity[2] = trajectory.vel_z[i];
-
-		trajectory_waypoint.waypoints[i].acceleration[0] = trajectory.acc_x[i];
-		trajectory_waypoint.waypoints[i].acceleration[1] = trajectory.acc_y[i];
-		trajectory_waypoint.waypoints[i].acceleration[2] = trajectory.acc_z[i];
-
-		trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
-		trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];
-
-		trajectory_waypoint.waypoints[i].point_valid = true;
-
-		trajectory_waypoint.waypoints[i].type = UINT8_MAX;
-	}
-
-	trajectory_waypoint.timestamp = hrt_absolute_time();
-	_trajectory_waypoint_pub.publish(trajectory_waypoint);
-}
-
 void
 MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 {

diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
@@ -110,8 +110,6 @@
 #include <uORB/topics/vehicle_odometry.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_trajectory_bezier.h>
-#include <uORB/topics/vehicle_trajectory_waypoint.h>
 #include <uORB/topics/velocity_limits.h>
 
 #if !defined(CONSTRAINED_FLASH)
@@ -201,8 +199,6 @@ class MavlinkReceiver : public ModuleParams
 	void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
 	void handle_message_statustext(mavlink_message_t *msg);
 	void handle_message_tunnel(mavlink_message_t *msg);
-	void handle_message_trajectory_representation_bezier(mavlink_message_t *msg);
-	void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
 	void handle_message_utm_global_position(mavlink_message_t *msg);
 #if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used
 	void handle_message_set_velocity_limits(mavlink_message_t *msg);
@@ -329,8 +325,6 @@ class MavlinkReceiver : public ModuleParams
 	uORB::Publication<vehicle_odometry_s>			_mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};
 	uORB::Publication<vehicle_odometry_s>			_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
 	uORB::Publication<vehicle_rates_setpoint_s>		_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
-	uORB::Publication<vehicle_trajectory_bezier_s>		_trajectory_bezier_pub{ORB_ID(vehicle_trajectory_bezier)};
-	uORB::Publication<vehicle_trajectory_waypoint_s>	_trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
 
 #if !defined(CONSTRAINED_FLASH)
 	uORB::Publication<debug_array_s>			_debug_array_pub {ORB_ID(debug_array)};

diff --git a/src/modules/mavlink/streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp b/src/modules/mavlink/streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp
diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -71,9 +71,6 @@ publications:
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus
 
-  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
-    type: px4_msgs::msg::VehicleTrajectoryWaypoint
-
 # Create uORB::Publication
 subscriptions:
   - topic: /fmu/in/register_ext_component_request
@@ -142,12 +139,6 @@ subscriptions:
   - topic: /fmu/in/vehicle_command_mode_executor
     type: px4_msgs::msg::VehicleCommand
 
-  - topic: /fmu/in/vehicle_trajectory_bezier
-    type: px4_msgs::msg::VehicleTrajectoryBezier
-
-  - topic: /fmu/in/vehicle_trajectory_waypoint
-    type: px4_msgs::msg::VehicleTrajectoryWaypoint
-
   - topic: /fmu/in/vehicle_thrust_setpoint
     type: px4_msgs::msg::VehicleThrustSetpoint
 

diff --git a/src/modules/zenoh/Kconfig b/src/modules/zenoh/Kconfig
@@ -46,9 +46,6 @@ if MODULES_ZENOH
             select ZENOH_PUBSUB_VEHICLE_ODOMETRY
             select ZENOH_PUBSUB_VEHICLE_RATES_SETPOINT
             select ZENOH_PUBSUB_VEHICLE_COMMAND
-            select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER
-            select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT
-
     config ZENOH_PUBSUB_ALL
             bool "All"