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Add argument to trigger new mavbridge clock publishing

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2
@@ -15,6 +15,7 @@
@@ -15,6 +15,7 @@
<arg name="ap_dev" default="/dev/ttyUSB*" /> <!-- Device string -->
<arg name="ap_dev" default="/dev/ttyUSB*" /> <!-- Device string -->
<arg name="net_dev" default="wlan0" /> <!-- Network device -->
<arg name="net_dev" default="wlan0" /> <!-- Network device -->
<arg name="net_port" default="5554" /> <!-- Network port -->
<arg name="net_port" default="5554" /> <!-- Network port -->
 
<arg name="publish_clock" default="false" /> <!-- If mavbridge should publish the clock -->
<!-- Derived (conditional) arguments -->
<!-- Derived (conditional) arguments -->
<arg name="gps_arg" default="--gps-time-hack" if="$(arg gps)" />
<arg name="gps_arg" default="--gps-time-hack" if="$(arg gps)" />
@@ -34,7 +35,9 @@
@@ -34,7 +35,9 @@
<!-- Core Nodes -->
<!-- Core Nodes -->
<node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)" />
<node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)">
 
<param name="publish_clock" type="bool" value="$(arg publish_clock)" />
 
</node>
<node name="safety" pkg="ap_safety_monitor" type="safety.py" output="screen" >
<node name="safety" pkg="ap_safety_monitor" type="safety.py" output="screen" >
<remap from="safety/heartbeat" to="autopilot/heartbeat_onboard" />
<remap from="safety/heartbeat" to="autopilot/heartbeat_onboard" />
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