Pass ROSSRV class messages via ROS_ACOMMS
Using the roslib.messasge.get_service_class
function, this allows ROSSRV class messages (e.g. ros_acomms_msgs/PingTranspondersRequest
) to be passed via ROS_ACOMMS/ROS_IRIDIUM
Also adds some exception handling around codec setup and message parsing.
- id: 61
message_codec: default
subscribe_topic: !ros_param_substitute ${sub_cmd_ping; "send_iridium/cmd/transponder/ping"}
publish_topic: !ros_param_substitute ${pub_cmd_ping; "from_iridium/cmd/transponder/ping"}
ros_type: "ros_acomms_msgs/PingTranspondersRequest"
default_dest: 221
queue_order: fifo
queue_maxsize: 1
allow_fragmentation: false
priority: 100
fields:
transponder_dest_mask:
codec: fixed_len_array
element_type: bool
length: 4
timeout_ms:
codec: integer
min_value: 1500
max_value: 10000
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