CoCalc -- AP_DDS_Topic

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GitHub Repository: Ardupilot/ardupilot
Path: blob/master/libraries/AP_DDS/AP_DDS_Topic_Table.h
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#include "builtin_interfaces/msg/Time.h"
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#include "sensor_msgs/msg/NavSatFix.h"
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#include "tf2_msgs/msg/TFMessage.h"
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#include "sensor_msgs/msg/BatteryState.h"
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#include "geographic_msgs/msg/GeoPoseStamped.h"
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#include "geometry_msgs/msg/Vector3Stamped.h"
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#if AP_DDS_IMU_PUB_ENABLED
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#include "sensor_msgs/msg/Imu.h"
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#endif //AP_DDS_IMU_PUB_ENABLED
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#include "uxr/client/client.h"
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// Code generated table based on the enabled topics.
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// Mavgen is using python, loops are not readable.
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// Can use jinja to template (like Flask)
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enum class TopicIndex: uint8_t {
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#if AP_DDS_TIME_PUB_ENABLED
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    TIME_PUB,
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#endif // AP_DDS_TIME_PUB_ENABLED
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#if AP_DDS_NAVSATFIX_PUB_ENABLED
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    NAV_SAT_FIX_PUB,
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#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
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#if AP_DDS_STATIC_TF_PUB_ENABLED
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    STATIC_TRANSFORMS_PUB,
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#endif // AP_DDS_STATIC_TF_PUB_ENABLED
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#if AP_DDS_BATTERY_STATE_PUB_ENABLED
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    BATTERY_STATE_PUB,
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#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
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#if AP_DDS_IMU_PUB_ENABLED
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    IMU_PUB,
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#endif //AP_DDS_IMU_PUB_ENABLED
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#if AP_DDS_LOCAL_POSE_PUB_ENABLED
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    LOCAL_POSE_PUB,
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#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
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#if AP_DDS_LOCAL_VEL_PUB_ENABLED
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    LOCAL_VELOCITY_PUB,
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#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
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#if AP_DDS_AIRSPEED_PUB_ENABLED
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    LOCAL_AIRSPEED_PUB,
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#endif // AP_DDS_AIRSPEED_PUB_ENABLED
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#if AP_DDS_GEOPOSE_PUB_ENABLED
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    GEOPOSE_PUB,
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#endif // AP_DDS_GEOPOSE_PUB_ENABLED
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#if AP_DDS_GOAL_PUB_ENABLED
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    GOAL_PUB,
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#endif // AP_DDS_GOAL_PUB_ENABLED
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#if AP_DDS_CLOCK_PUB_ENABLED
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    CLOCK_PUB,
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#endif // AP_DDS_CLOCK_PUB_ENABLED
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#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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    GPS_GLOBAL_ORIGIN_PUB,
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#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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#if AP_DDS_STATUS_PUB_ENABLED
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    STATUS_PUB,
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#endif // AP_DDS_STATUS_PUB_ENABLED
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#if AP_DDS_JOY_SUB_ENABLED
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    JOY_SUB,
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#endif // AP_DDS_JOY_SUB_ENABLED
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#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
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    DYNAMIC_TRANSFORMS_SUB,
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#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
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#if AP_DDS_VEL_CTRL_ENABLED
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    VELOCITY_CONTROL_SUB,
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#endif // AP_DDS_VEL_CTRL_ENABLED
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#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
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    GLOBAL_POSITION_SUB,
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#endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
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};
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static inline constexpr uint8_t to_underlying(const TopicIndex index)
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{
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    static_assert(sizeof(index) == sizeof(uint8_t));
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    return static_cast<uint8_t>(index);
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}
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constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
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#if AP_DDS_TIME_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::TIME_PUB),
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        .pub_id = to_underlying(TopicIndex::TIME_PUB),
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        .sub_id = to_underlying(TopicIndex::TIME_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/time",
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        .type_name = "builtin_interfaces::msg::dds_::Time_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_RELIABLE,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 20,
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        },
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    },
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#endif // AP_DDS_TIME_PUB_ENABLED
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#if AP_DDS_NAVSATFIX_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
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        .pub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
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        .sub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/navsat",
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        .type_name = "sensor_msgs::msg::dds_::NavSatFix_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_NAVSATFIX_PUB_ENABLED
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#if AP_DDS_STATIC_TF_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
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        .pub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
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        .sub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/tf_static",
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        .type_name = "tf2_msgs::msg::dds_::TFMessage_",
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        .qos = {
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            .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
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            .reliability = UXR_RELIABILITY_RELIABLE,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 1,
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        },
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    },
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#endif // AP_DDS_STATIC_TF_PUB_ENABLED
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#if AP_DDS_BATTERY_STATE_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
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        .pub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
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        .sub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/battery",
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        .type_name = "sensor_msgs::msg::dds_::BatteryState_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_BATTERY_STATE_PUB_ENABLED
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#if AP_DDS_IMU_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::IMU_PUB),
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        .pub_id = to_underlying(TopicIndex::IMU_PUB),
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        .sub_id = to_underlying(TopicIndex::IMU_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/imu/experimental/data",
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        .type_name = "sensor_msgs::msg::dds_::Imu_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif //AP_DDS_IMU_PUB_ENABLED
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#if AP_DDS_LOCAL_POSE_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
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        .pub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
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        .sub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/pose/filtered",
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        .type_name = "geometry_msgs::msg::dds_::PoseStamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_LOCAL_POSE_PUB_ENABLED
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#if AP_DDS_LOCAL_VEL_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
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        .pub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
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        .sub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/twist/filtered",
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        .type_name = "geometry_msgs::msg::dds_::TwistStamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_LOCAL_VEL_PUB_ENABLED
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#if AP_DDS_AIRSPEED_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB),
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        .pub_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB),
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        .sub_id = to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_AIRSPEED_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/airspeed",
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        .type_name = "geometry_msgs::msg::dds_::Vector3Stamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_AIRSPEED_PUB_ENABLED
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#if AP_DDS_GEOPOSE_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::GEOPOSE_PUB),
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        .pub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
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        .sub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/geopose/filtered",
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        .type_name = "geographic_msgs::msg::dds_::GeoPoseStamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_GEOPOSE_PUB_ENABLED
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#if AP_DDS_GOAL_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::GOAL_PUB),
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        .pub_id = to_underlying(TopicIndex::GOAL_PUB),
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        .sub_id = to_underlying(TopicIndex::GOAL_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GOAL_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GOAL_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/goal_lla",
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        .type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
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            .reliability = UXR_RELIABILITY_RELIABLE,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 1,
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        },
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    },
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#endif // AP_DDS_GOAL_PUB_ENABLED
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#if AP_DDS_CLOCK_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::CLOCK_PUB),
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        .pub_id = to_underlying(TopicIndex::CLOCK_PUB),
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        .sub_id = to_underlying(TopicIndex::CLOCK_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/clock",
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        .type_name = "rosgraph_msgs::msg::dds_::Clock_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_RELIABLE,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 20,
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        },
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    },
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#endif // AP_DDS_CLOCK_PUB_ENABLED
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#if AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
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        .pub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
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        .sub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/gps_global_origin/filtered",
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        .type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
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#if AP_DDS_STATUS_PUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::STATUS_PUB),
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        .pub_id = to_underlying(TopicIndex::STATUS_PUB),
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        .sub_id = to_underlying(TopicIndex::STATUS_PUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATUS_PUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATUS_PUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataWriter,
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        .topic_name = "rt/ap/status",
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        .type_name = "ardupilot_msgs::msg::dds_::Status_",
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        .qos = {
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            .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
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            .reliability = UXR_RELIABILITY_RELIABLE,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 1,
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        },
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    },
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#endif // AP_DDS_STATUS_PUB_ENABLED
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#if AP_DDS_JOY_SUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::JOY_SUB),
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        .pub_id = to_underlying(TopicIndex::JOY_SUB),
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        .sub_id = to_underlying(TopicIndex::JOY_SUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataReader,
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        .topic_name = "rt/ap/joy",
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        .type_name = "sensor_msgs::msg::dds_::Joy_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_JOY_SUB_ENABLED
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#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
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        .pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
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        .sub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataReader,
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        .topic_name = "rt/ap/tf",
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        .type_name = "tf2_msgs::msg::dds_::TFMessage_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
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#if AP_DDS_VEL_CTRL_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
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        .pub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
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        .sub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataReader,
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        .topic_name = "rt/ap/cmd_vel",
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        .type_name = "geometry_msgs::msg::dds_::TwistStamped_",
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        .qos = {
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            .durability = UXR_DURABILITY_VOLATILE,
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            .reliability = UXR_RELIABILITY_BEST_EFFORT,
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            .history = UXR_HISTORY_KEEP_LAST,
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            .depth = 5,
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        },
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    },
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#endif // AP_DDS_VEL_CTRL_ENABLED
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#if AP_DDS_GLOBAL_POS_CTRL_ENABLED
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    {
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        .topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
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        .pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
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        .sub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
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        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAWRITER_ID},
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        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAREADER_ID},
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        .topic_rw = Topic_rw::DataReader,
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        .topic_name = "rt/ap/cmd_gps_pose",
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        .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
};
386

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