Dev: add ros2 topics rates

Author: ZhongmouLi

dev/source/docs/ros2-interfaces.rst

@@ -22,29 +22,34 @@ ArduPilot exposes "sensor" type data over DDS, that usually corresponds to a phy
    <th>Topic Name</th>
    <th>Topic Type</th>
    <th>Description</th>
+   <th>Default Frequency</th>
    </tr>
    <tr>
    <td>ap/navsat/navsat0</td>
    <td>sensor_msgs/msg/NavSatFix</td> 
    <td>This is the reported GPS sensor position from the GPS subsystem.
    TODO It will include a frame ID as instance number</td>
+   <td>GPS-driven</td>
    </tr>
    <tr>
    <td>ap/battery</td>
    <td>sensor_msgs/msg/BatteryState</td> 
    <td>This sends the battery state for each enabled battery.
    The battery instance is available in the frame ID.
-   Each enabled battery will be have data published.
+   Each enabled battery will be have data published.</td>
+   <td>1 Hz</td>
    </tr>
    <tr>
    <td>ap/imu/experimental/data</td>
    <td>sensor_msgs/msg/IMU</td>
    <td>This is the high rate IMU data from the IMU that is currently used in the EKF.</td>
+   <td>200 Hz</td>
    </tr>
    <tr>
    <td>ap/airspeed</td>
    <td>geometry_msgs/msg/Vector3Stamped</td>
    <td>This is the 3D airspeed estimate of the vehicle in body frame.</td>
+   <td>30 Hz</td>
    </tr>
    </tbody>
    </table>
@@ -60,32 +65,38 @@ Pose, Rates, and Coordinates
    <th>Topic Name</th>
    <th>Topic Type</th>
    <th>Description</th>
+   <th>Frequency</th>
    </tr>
    <tr>
    <td>ap/gps_global_origin/filtered</td>
    <td>geographic_msgs/msg/GeoPointStamped</td> 
-   <td>This is the filtered AHRS's inertial navigation origin. This is NOT the same ask the HOME location.
+   <td>This is the filtered AHRS's inertial navigation origin. This is NOT the same ask the HOME location.</td>
+   <td>1 Hz</td>
    </tr>
    <tr>
    <td>ap/twist/filtered</td>
    <td>geometry_msgs/msg/TwistStamped</td> 
    <td>This is the filtered AHRS's velocity in the local ENU frame relative to home.</td>
+   <td>30 Hz</td>
    </tr>
    <tr>
    <td>ap/pose/filtered</td>
    <td>geometry_msgs/msg/PoseStamped</td> 
    <td>This is the filtered AHRS's pose in the local ENU frame relative to home.</td>
+   <td>30 Hz</td>
    </tr>
    <tr>
    <td>ap/geopose/filtered</td>
    <td>geographic_msgs/msg/GeoPoseStamped</td> 
    <td>This is the filtered AHRS's pose (position+orientation) in global coordinates</td>
+   <td>30 Hz</td>
    </tr>
    <tr>
    <td>ap/tf_static</td>
    <td>tf2_msgs/msg/TFMessage</td> 
    <td>AP broadcasts its known static transforms on this topic.
    The transforms include the GPS sensor offsets relative to the vehicle origin.</td>
+   <td>N/A</td>
    </tr>
    </tbody>
    </table>
@@ -101,16 +112,19 @@ Time
    <th>Topic Name</th>
    <th>Topic Type</th>
    <th>Description</th>
+   <th>Frequency</th>
    </tr>
    <tr>
    <td>ap/time</td>
    <td>builtin_interface/msg/Time</td> 
    <td>This sends time from AP's real time clock.</td>
+   <td>100 Hz</td>
    </tr>
    <tr>
    <td>ap/clock</td>
    <td>rosgraph_msgs/msg/Clock</td> 
    <td>This sends time from AP's real time clock in a format suitable for aligning ROS time of a companion computer.</td>
+   <td>100 Hz</td>
    </tr>
    </tbody>
    </table>