RegisterExtComponentRequestV0 (UORB message)

Request to register an external component.

TOPICS: register_extcomponent_requestv0

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
request_id	uint64			ID, set this to a random value
name	char[25]			either the requested mode name, or component name
px4_ros2_api_version	uint16			Set to LATEST_PX4_ROS2_API_VERSION
register_arming_check	bool
register_mode	bool			registering a mode also requires arming_check to be set
register_mode_executor	bool			registering an executor also requires a mode to be registered (which is the owned mode by the executor)
enable_replace_internal_mode	bool			set to true if an internal mode should be replaced
replace_internal_mode	uint8			vehiclestatus::NAVIGATION_STATE*
activate_mode_immediately	bool			switch to the registered mode (can only be set in combination with an executor)

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0
LATEST_PX4_ROS2_API_VERSION	uint16	1	API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
ORB_QUEUE_LENGTH	uint8	2

Source Message

Source file (GitHub)

Click here to see original file

# Request to register an external component

uint32 MESSAGE_VERSION = 0

uint64 timestamp # time since system start (microseconds)

uint64 request_id                  # ID, set this to a random value
char[25] name                      # either the requested mode name, or component name

uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.

uint16 px4_ros2_api_version   # Set to LATEST_PX4_ROS2_API_VERSION

# Components to be registered
bool register_arming_check
bool register_mode                 # registering a mode also requires arming_check to be set
bool register_mode_executor        # registering an executor also requires a mode to be registered (which is the owned mode by the executor)

bool enable_replace_internal_mode  # set to true if an internal mode should be replaced
uint8 replace_internal_mode        # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately     # switch to the registered mode (can only be set in combination with an executor)


uint8 ORB_QUEUE_LENGTH = 2