From dd38c16b0b99aa291ba765ff8466f0b675692ad5 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Fri, 22 Aug 2025 13:12:19 +0000
Subject: [PATCH 1/3] Initial plan


From 5a3cbf757cd9b19d5a493a7922913579e9a7a2d5 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Fri, 22 Aug 2025 13:16:57 +0000
Subject: [PATCH 2/3] Add latency checker heartbeat topics to bridge configs

Co-authored-by: nielmistry <10933146+nielmistry@users.noreply.github.com>
---
 ansible/templates/drone_bridge_config.yaml.j2 | 22 ++++++++++++++++++-
 ansible/templates/host_bridge_config.yaml.j2  | 21 ++++++++++++++++++
 2 files changed, 42 insertions(+), 1 deletion(-)

diff --git a/ansible/templates/drone_bridge_config.yaml.j2 b/ansible/templates/drone_bridge_config.yaml.j2
index c831324..11a7004 100644
--- a/ansible/templates/drone_bridge_config.yaml.j2
+++ b/ansible/templates/drone_bridge_config.yaml.j2
@@ -4,4 +4,24 @@ to_domain: 0
 topics: 
   {{ns}}/mavros/state: 
     type: mavros_msgs/msg/State
-    
\ No newline at end of file
+  # Latency checker topic: drone heartbeat to host domain
+  {{ns}}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
+
+---
+# Bridge topics from host domain 0 to this drone domain
+name: host_to_drone_bridge  
+from_domain: 0
+to_domain: {{ drone_num }}
+topics:
+  # Host latency checker heartbeat to drone
+  /{{ host_hostname | map('regex_replace', '\\.local', '') | map('regex_replace', '-', '_') | join('') }}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
+  # Other drones' latency checker heartbeats to this drone
+{% for peer in groups['drones'] %}
+{% set peer_num = peer | regex_replace('\\.local', '') | regex_search('[0-9]+$') %}
+{% if peer_num != drone_num %}
+  /nxt{{ peer_num }}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
+{% endif %}
+{% endfor %}
\ No newline at end of file
diff --git a/ansible/templates/host_bridge_config.yaml.j2 b/ansible/templates/host_bridge_config.yaml.j2
index dd826e0..8c8f65f 100644
--- a/ansible/templates/host_bridge_config.yaml.j2
+++ b/ansible/templates/host_bridge_config.yaml.j2
@@ -7,4 +7,25 @@ topics:
   /optitrack_multiplexer_node/rigid_body/nxt{{ num }}: 
     type: optitrack_multiplexer_ros2_msgs/msg/RigidBodyStamped
     to_domain: {{ num }}
+{% endfor %}
+  # Latency checker topics: host heartbeat to all drone domains
+{% for drone in groups['drones'] %}
+{% set num = drone | regex_replace('\\.local', '') | regex_search('[0-9]+$') %}
+  /{{ host_hostname | map('regex_replace', '\\.local', '') | map('regex_replace', '-', '_') | join('') }}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
+    to_domain: {{ num }}
+{% endfor %}
+
+---
+# Bridge drone latency checker heartbeats from each drone domain to host domain 0
+{% for drone in groups['drones'] %}
+{% set num = drone | regex_replace('\\.local', '') | regex_search('[0-9]+$') %}
+name: drone{{ num }}_to_host_bridge
+from_domain: {{ num }}
+to_domain: 0
+topics:
+  /nxt{{ num }}/latency_checker/heartbeat:
+    type: latency_checker_ros2/msg/Heartbeat
+
+---
 {% endfor %}
\ No newline at end of file

From b8aa47c4fcf7e9e3f7dec406776d9a928070842e Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Fri, 22 Aug 2025 15:12:25 +0000
Subject: [PATCH 3/3] Simplify bridge configs by consolidating latency checker
 topics

Co-authored-by: nielmistry <10933146+nielmistry@users.noreply.github.com>
---
 ansible/templates/drone_bridge_config.yaml.j2 | 20 +------------------
 ansible/templates/host_bridge_config.yaml.j2  | 19 +-----------------
 2 files changed, 2 insertions(+), 37 deletions(-)

diff --git a/ansible/templates/drone_bridge_config.yaml.j2 b/ansible/templates/drone_bridge_config.yaml.j2
index 11a7004..c519c3b 100644
--- a/ansible/templates/drone_bridge_config.yaml.j2
+++ b/ansible/templates/drone_bridge_config.yaml.j2
@@ -6,22 +6,4 @@ topics:
     type: mavros_msgs/msg/State
   # Latency checker topic: drone heartbeat to host domain
   {{ns}}/latency_checker/heartbeat:
-    type: latency_checker_ros2/msg/Heartbeat
-
----
-# Bridge topics from host domain 0 to this drone domain
-name: host_to_drone_bridge  
-from_domain: 0
-to_domain: {{ drone_num }}
-topics:
-  # Host latency checker heartbeat to drone
-  /{{ host_hostname | map('regex_replace', '\\.local', '') | map('regex_replace', '-', '_') | join('') }}/latency_checker/heartbeat:
-    type: latency_checker_ros2/msg/Heartbeat
-  # Other drones' latency checker heartbeats to this drone
-{% for peer in groups['drones'] %}
-{% set peer_num = peer | regex_replace('\\.local', '') | regex_search('[0-9]+$') %}
-{% if peer_num != drone_num %}
-  /nxt{{ peer_num }}/latency_checker/heartbeat:
-    type: latency_checker_ros2/msg/Heartbeat
-{% endif %}
-{% endfor %}
\ No newline at end of file
+    type: latency_checker_ros2/msg/Heartbeat
\ No newline at end of file
diff --git a/ansible/templates/host_bridge_config.yaml.j2 b/ansible/templates/host_bridge_config.yaml.j2
index 8c8f65f..455f781 100644
--- a/ansible/templates/host_bridge_config.yaml.j2
+++ b/ansible/templates/host_bridge_config.yaml.j2
@@ -7,25 +7,8 @@ topics:
   /optitrack_multiplexer_node/rigid_body/nxt{{ num }}: 
     type: optitrack_multiplexer_ros2_msgs/msg/RigidBodyStamped
     to_domain: {{ num }}
-{% endfor %}
-  # Latency checker topics: host heartbeat to all drone domains
-{% for drone in groups['drones'] %}
-{% set num = drone | regex_replace('\\.local', '') | regex_search('[0-9]+$') %}
+  # Latency checker topic: host heartbeat to drone domain {{ num }}
   /{{ host_hostname | map('regex_replace', '\\.local', '') | map('regex_replace', '-', '_') | join('') }}/latency_checker/heartbeat:
     type: latency_checker_ros2/msg/Heartbeat
     to_domain: {{ num }}
-{% endfor %}
-
----
-# Bridge drone latency checker heartbeats from each drone domain to host domain 0
-{% for drone in groups['drones'] %}
-{% set num = drone | regex_replace('\\.local', '') | regex_search('[0-9]+$') %}
-name: drone{{ num }}_to_host_bridge
-from_domain: {{ num }}
-to_domain: 0
-topics:
-  /nxt{{ num }}/latency_checker/heartbeat:
-    type: latency_checker_ros2/msg/Heartbeat
-
----
 {% endfor %}
\ No newline at end of file