libraries/AP_DDS/AP_DDS_Topic_Table.h

   1 #include "builtin_interfaces/msg/Time.h"
   2 #include "sensor_msgs/msg/NavSatFix.h"
   3 #include "tf2_msgs/msg/TFMessage.h"
   4 #include "sensor_msgs/msg/BatteryState.h"
   5 #include "geographic_msgs/msg/GeoPoseStamped.h"
   6 #include "geometry_msgs/msg/Vector3Stamped.h"
   7 #if AP_DDS_IMU_PUB_ENABLED
   8 #include "sensor_msgs/msg/Imu.h"
   9 #endif //AP_DDS_IMU_PUB_ENABLED
  10
  11 #include "uxr/client/client.h"
  12
  13 // Code generated table based on the enabled topics.
  14 // Mavgen is using python, loops are not readable.
  15 // Can use jinja to template (like Flask)
  16
  17 enum class TopicIndex: uint8_t {
  18 #if AP_DDS_TIME_PUB_ENABLED
  19     TIME_PUB,
  20 #endif // AP_DDS_TIME_PUB_ENABLED
  21 #if AP_DDS_NAVSATFIX_PUB_ENABLED
  22     NAV_SAT_FIX_PUB,
  23 #endif // AP_DDS_NAVSATFIX_PUB_ENABLED
  24 #if AP_DDS_STATIC_TF_PUB_ENABLED
  25     STATIC_TRANSFORMS_PUB,
  26 #endif // AP_DDS_STATIC_TF_PUB_ENABLED
  27 #if AP_DDS_BATTERY_STATE_PUB_ENABLED
  28     BATTERY_STATE_PUB,
  29 #endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
  30 #if AP_DDS_IMU_PUB_ENABLED
  31     IMU_PUB,
  32 #endif //AP_DDS_IMU_PUB_ENABLED
  33 #if AP_DDS_LOCAL_POSE_PUB_ENABLED
  34     LOCAL_POSE_PUB,
  35 #endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
  36 #if AP_DDS_LOCAL_VEL_PUB_ENABLED
  37     LOCAL_VELOCITY_PUB,
  38 #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
  39 #if AP_DDS_AIRSPEED_PUB_ENABLED
  40     LOCAL_AIRSPEED_PUB,
  41 #endif // AP_DDS_AIRSPEED_PUB_ENABLED
  42 #if AP_DDS_GEOPOSE_PUB_ENABLED
  43     GEOPOSE_PUB,
  44 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
  45 #if AP_DDS_GOAL_PUB_ENABLED
  46     GOAL_PUB,
  47 #endif // AP_DDS_GOAL_PUB_ENABLED
  48 #if AP_DDS_CLOCK_PUB_ENABLED
  49     CLOCK_PUB,
  50 #endif // AP_DDS_CLOCK_PUB_ENABLED
  51 #if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
  52     GPS_GLOBAL_ORIGIN_PUB,
  53 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
  54 #if AP_DDS_STATUS_PUB_ENABLED
  55     STATUS_PUB,
  56 #endif // AP_DDS_STATUS_PUB_ENABLED
  57 #if AP_DDS_JOY_SUB_ENABLED
  58     JOY_SUB,
  59 #endif // AP_DDS_JOY_SUB_ENABLED
  60 #if AP_DDS_DYNAMIC_TF_SUB_ENABLED
  61     DYNAMIC_TRANSFORMS_SUB,
  62 #endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
  63 #if AP_DDS_VEL_CTRL_ENABLED
  64     VELOCITY_CONTROL_SUB,
  65 #endif // AP_DDS_VEL_CTRL_ENABLED
  66 #if AP_DDS_GLOBAL_POS_CTRL_ENABLED
  67     GLOBAL_POSITION_SUB,
  68 #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
  69 };
  70
  71 static inline constexpr uint8_t to_underlying(const TopicIndex index)
  72 {
  73     static_assert(sizeof(index) == sizeof(uint8_t));
  74     return static_cast<uint8_t>(index);
  75 }
  76
  77
  78 constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
  79 #if AP_DDS_TIME_PUB_ENABLED
  80     {
  81         .topic_id = to_underlying(TopicIndex::TIME_PUB),
  82         .pub_id = to_underlying(TopicIndex::TIME_PUB),
  83         .sub_id = to_underlying(TopicIndex::TIME_PUB),
  84         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAWRITER_ID},
  85         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAREADER_ID},
  86         .topic_rw = Topic_rw::DataWriter,
  87         .topic_name = "rt/ap/time",
  88         .type_name = "builtin_interfaces::msg::dds_::Time_",
  89         .qos = {
  90             .durability = UXR_DURABILITY_VOLATILE,
  91             .reliability = UXR_RELIABILITY_RELIABLE,
  92             .history = UXR_HISTORY_KEEP_LAST,
  93             .depth = 20,
  94         },
  95     },
  96 #endif // AP_DDS_TIME_PUB_ENABLED
  97 #if AP_DDS_NAVSATFIX_PUB_ENABLED
  98     {
  99         .topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
 100         .pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
 101         .sub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
 102         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
 103         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
 104         .topic_rw = Topic_rw::DataWriter,
 105         .topic_name = "rt/ap/navsat",
 106         .type_name = "sensor_msgs::msg::dds_::NavSatFix_",
 107         .qos = {
 108             .durability = UXR_DURABILITY_VOLATILE,
 109             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 110             .history = UXR_HISTORY_KEEP_LAST,
 111             .depth = 5,
 112         },
 113     },
 114 #endif // AP_DDS_NAVSATFIX_PUB_ENABLED
 115 #if AP_DDS_STATIC_TF_PUB_ENABLED
 116     {
 117         .topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
 118         .pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
 119         .sub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
 120         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAWRITER_ID},
 121         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAREADER_ID},
 122         .topic_rw = Topic_rw::DataWriter,
 123         .topic_name = "rt/ap/tf_static",
 124         .type_name = "tf2_msgs::msg::dds_::TFMessage_",
 125         .qos = {
 126             .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
 127             .reliability = UXR_RELIABILITY_RELIABLE,
 128             .history = UXR_HISTORY_KEEP_LAST,
 129             .depth = 1,
 130         },
 131     },
 132 #endif // AP_DDS_STATIC_TF_PUB_ENABLED
 133 #if AP_DDS_BATTERY_STATE_PUB_ENABLED
 134     {
 135         .topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
 136         .pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
 137         .sub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
 138         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID},
 139         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID},
 140         .topic_rw = Topic_rw::DataWriter,
 141         .topic_name = "rt/ap/battery",
 142         .type_name = "sensor_msgs::msg::dds_::BatteryState_",
 143         .qos = {
 144             .durability = UXR_DURABILITY_VOLATILE,
 145             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 146             .history = UXR_HISTORY_KEEP_LAST,
 147             .depth = 5,
 148         },
 149     },
 150 #endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
 151 #if AP_DDS_IMU_PUB_ENABLED
 152     {
 153         .topic_id = to_underlying(TopicIndex::IMU_PUB),
 154         .pub_id = to_underlying(TopicIndex::IMU_PUB),
 155         .sub_id = to_underlying(TopicIndex::IMU_PUB),
 156         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAWRITER_ID},
 157         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAREADER_ID},
 158         .topic_rw = Topic_rw::DataWriter,
 159         .topic_name = "rt/ap/imu/experimental/data",
 160         .type_name = "sensor_msgs::msg::dds_::Imu_",
 161         .qos = {
 162             .durability = UXR_DURABILITY_VOLATILE,
 163             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 164             .history = UXR_HISTORY_KEEP_LAST,
 165             .depth = 5,
 166         },
 167     },
 168 #endif //AP_DDS_IMU_PUB_ENABLED
 169 #if AP_DDS_LOCAL_POSE_PUB_ENABLED
 170     {
 171         .topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
 172         .pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
 173         .sub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
 174         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAWRITER_ID},
 175         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAREADER_ID},
 176         .topic_rw = Topic_rw::DataWriter,
 177         .topic_name = "rt/ap/pose/filtered",
 178         .type_name = "geometry_msgs::msg::dds_::PoseStamped_",
 179         .qos = {
 180             .durability = UXR_DURABILITY_VOLATILE,
 181             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 182             .history = UXR_HISTORY_KEEP_LAST,
 183             .depth = 5,
 184         },
 185     },
 186 #endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
 187 #if AP_DDS_LOCAL_VEL_PUB_ENABLED
 188     {
 189         .topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
 190         .pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
 191         .sub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
 192         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAWRITER_ID},
 193         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAREADER_ID},
 194         .topic_rw = Topic_rw::DataWriter,
 195         .topic_name = "rt/ap/twist/filtered",
 196         .type_name = "geometry_msgs::msg::dds_::TwistStamped_",
 197         .qos = {
 198             .durability = UXR_DURABILITY_VOLATILE,
 199             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 200             .history = UXR_HISTORY_KEEP_LAST,
 201             .depth = 5,
 202         },
 203     },
 204 #endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
 205 #if AP_DDS_AIRSPEED_PUB_ENABLED
 206     {
 207         .topic_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB),
 208         .pub_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB),
 209         .sub_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB),
 210         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), .type=UXR_DATAWRITER_ID},
 211         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), .type=UXR_DATAREADER_ID},
 212         .topic_rw = Topic_rw::DataWriter,
 213         .topic_name = "rt/ap/airspeed",
 214         .type_name = "geometry_msgs::msg::dds_::Vector3Stamped_",
 215         .qos = {
 216             .durability = UXR_DURABILITY_VOLATILE,
 217             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 218             .history = UXR_HISTORY_KEEP_LAST,
 219             .depth = 5,
 220         },
 221     },
 222 #endif // AP_DDS_AIRSPEED_PUB_ENABLED
 223 #if AP_DDS_GEOPOSE_PUB_ENABLED
 224     {
 225         .topic_id = to_underlying(TopicIndex::GEOPOSE_PUB),
 226         .pub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
 227         .sub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
 228         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAWRITER_ID},
 229         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAREADER_ID},
 230         .topic_rw = Topic_rw::DataWriter,
 231         .topic_name = "rt/ap/geopose/filtered",
 232         .type_name = "geographic_msgs::msg::dds_::GeoPoseStamped_",
 233         .qos = {
 234             .durability = UXR_DURABILITY_VOLATILE,
 235             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 236             .history = UXR_HISTORY_KEEP_LAST,
 237             .depth = 5,
 238         },
 239     },
 240 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
 241 #if AP_DDS_GOAL_PUB_ENABLED
 242     {
 243         .topic_id = to_underlying(TopicIndex::GOAL_PUB),
 244         .pub_id = to_underlying(TopicIndex::GOAL_PUB),
 245         .sub_id = to_underlying(TopicIndex::GOAL_PUB),
 246         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GOAL_PUB), .type=UXR_DATAWRITER_ID},
 247         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GOAL_PUB), .type=UXR_DATAREADER_ID},
 248         .topic_rw = Topic_rw::DataWriter,
 249         .topic_name = "rt/ap/goal_lla",
 250         .type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
 251         .qos = {
 252             .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
 253             .reliability = UXR_RELIABILITY_RELIABLE,
 254             .history = UXR_HISTORY_KEEP_LAST,
 255             .depth = 1,
 256         },
 257     },
 258 #endif // AP_DDS_GOAL_PUB_ENABLED
 259 #if AP_DDS_CLOCK_PUB_ENABLED
 260     {
 261         .topic_id = to_underlying(TopicIndex::CLOCK_PUB),
 262         .pub_id = to_underlying(TopicIndex::CLOCK_PUB),
 263         .sub_id = to_underlying(TopicIndex::CLOCK_PUB),
 264         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAWRITER_ID},
 265         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAREADER_ID},
 266         .topic_rw = Topic_rw::DataWriter,
 267         .topic_name = "rt/ap/clock",
 268         .type_name = "rosgraph_msgs::msg::dds_::Clock_",
 269         .qos = {
 270             .durability = UXR_DURABILITY_VOLATILE,
 271             .reliability = UXR_RELIABILITY_RELIABLE,
 272             .history = UXR_HISTORY_KEEP_LAST,
 273             .depth = 20,
 274         },
 275     },
 276 #endif // AP_DDS_CLOCK_PUB_ENABLED
 277 #if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 278     {
 279         .topic_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
 280         .pub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
 281         .sub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
 282         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAWRITER_ID},
 283         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAREADER_ID},
 284         .topic_rw = Topic_rw::DataWriter,
 285         .topic_name = "rt/ap/gps_global_origin/filtered",
 286         .type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
 287         .qos = {
 288             .durability = UXR_DURABILITY_VOLATILE,
 289             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 290             .history = UXR_HISTORY_KEEP_LAST,
 291             .depth = 5,
 292         },
 293     },
 294 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 295 #if AP_DDS_STATUS_PUB_ENABLED
 296     {
 297         .topic_id = to_underlying(TopicIndex::STATUS_PUB),
 298         .pub_id = to_underlying(TopicIndex::STATUS_PUB),
 299         .sub_id = to_underlying(TopicIndex::STATUS_PUB),
 300         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATUS_PUB), .type=UXR_DATAWRITER_ID},
 301         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATUS_PUB), .type=UXR_DATAREADER_ID},
 302         .topic_rw = Topic_rw::DataWriter,
 303         .topic_name = "rt/ap/status",
 304         .type_name = "ardupilot_msgs::msg::dds_::Status_",
 305         .qos = {
 306             .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
 307             .reliability = UXR_RELIABILITY_RELIABLE,
 308             .history = UXR_HISTORY_KEEP_LAST,
 309             .depth = 1,
 310         },
 311     },
 312 #endif // AP_DDS_STATUS_PUB_ENABLED
 313 #if AP_DDS_JOY_SUB_ENABLED
 314     {
 315         .topic_id = to_underlying(TopicIndex::JOY_SUB),
 316         .pub_id = to_underlying(TopicIndex::JOY_SUB),
 317         .sub_id = to_underlying(TopicIndex::JOY_SUB),
 318         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAWRITER_ID},
 319         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAREADER_ID},
 320         .topic_rw = Topic_rw::DataReader,
 321         .topic_name = "rt/ap/joy",
 322         .type_name = "sensor_msgs::msg::dds_::Joy_",
 323         .qos = {
 324             .durability = UXR_DURABILITY_VOLATILE,
 325             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 326             .history = UXR_HISTORY_KEEP_LAST,
 327             .depth = 5,
 328         },
 329     },
 330 #endif // AP_DDS_JOY_SUB_ENABLED
 331 #if AP_DDS_DYNAMIC_TF_SUB_ENABLED
 332     {
 333         .topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
 334         .pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
 335         .sub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
 336         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAWRITER_ID},
 337         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAREADER_ID},
 338         .topic_rw = Topic_rw::DataReader,
 339         .topic_name = "rt/ap/tf",
 340         .type_name = "tf2_msgs::msg::dds_::TFMessage_",
 341         .qos = {
 342             .durability = UXR_DURABILITY_VOLATILE,
 343             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 344             .history = UXR_HISTORY_KEEP_LAST,
 345             .depth = 5,
 346         },
 347     },
 348 #endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
 349 #if AP_DDS_VEL_CTRL_ENABLED
 350     {
 351         .topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
 352         .pub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
 353         .sub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
 354         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAWRITER_ID},
 355         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAREADER_ID},
 356         .topic_rw = Topic_rw::DataReader,
 357         .topic_name = "rt/ap/cmd_vel",
 358         .type_name = "geometry_msgs::msg::dds_::TwistStamped_",
 359         .qos = {
 360             .durability = UXR_DURABILITY_VOLATILE,
 361             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 362             .history = UXR_HISTORY_KEEP_LAST,
 363             .depth = 5,
 364         },
 365     },
 366 #endif // AP_DDS_VEL_CTRL_ENABLED
 367 #if AP_DDS_GLOBAL_POS_CTRL_ENABLED
 368     {
 369         .topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
 370         .pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
 371         .sub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
 372         .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAWRITER_ID},
 373         .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAREADER_ID},
 374         .topic_rw = Topic_rw::DataReader,
 375         .topic_name = "rt/ap/cmd_gps_pose",
 376         .type_name = "ardupilot_msgs::msg::dds_::GlobalPosition_",
 377         .qos = {
 378             .durability = UXR_DURABILITY_VOLATILE,
 379             .reliability = UXR_RELIABILITY_BEST_EFFORT,
 380             .history = UXR_HISTORY_KEEP_LAST,
 381             .depth = 5,
 382         },
 383     },
 384 #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
 385 };