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Add latency checker heartbeat topics to domain bridge configurations #13

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Add latency checker heartbeat topics to domain bridge configurations #13

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dd38c16
Initial plan
Copilot Aug 22, 2025
5a3cbf7
Add latency checker heartbeat topics to bridge configs
Copilot Aug 22, 2025
b8aa47c
Simplify bridge configs by consolidating latency checker topics
Copilot Aug 22, 2025
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4 changes: 3 additions & 1 deletion ansible/templates/drone_bridge_config.yaml.j2
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Expand Up @@ -4,4 +4,6 @@ to_domain: 0
topics:
{{ns}}/mavros/state:
type: mavros_msgs/msg/State

# Latency checker topic: drone heartbeat to host domain
{{ns}}/latency_checker/heartbeat:
type: latency_checker_ros2/msg/Heartbeat
4 changes: 4 additions & 0 deletions ansible/templates/host_bridge_config.yaml.j2
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Expand Up @@ -7,4 +7,8 @@ topics:
/optitrack_multiplexer_node/rigid_body/nxt{{ num }}:
type: optitrack_multiplexer_ros2_msgs/msg/RigidBodyStamped
to_domain: {{ num }}
# 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 %}