timesync 初步做好

2026-03-26 17:19:38 +08:00
parent 1d49ca12e9
commit 5374e2b9d9
11 changed files with 469 additions and 164 deletions
@@ -22,6 +22,7 @@
 自己的常用指令
 python -m fc_network_adapter.tests.test_vehicleStatusPublisher
 python -m fc_network_adapter.tests.test_ringBuffer
+python -m fc_network_adapter.fc_network_adapter.mainOrchestrator

 ros2 topic list
 ros2 topic echo 
@@ -31,5 +32,11 @@ ros2 topic echo

 mavproxy.py --master=tcp:127.0.0.1:5790 --out=udp:127.0.0.1:14560

+ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
+
+ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 8}"


+sudo tcpdump -i lo 'udp dst port 14561' -X
+sudo tcpdump -i lo 'udp dst port 14550' -X -vv
+sudo tcpdump -i lo -X udp port 14550