includeuORBtopics

includeuORBtopics is a build-time directive used in the PX4 autopilot project to declare the set of uORB topics that a module relies on. By listing topics in this directive, the build system can generate and import the necessary topic headers and serialization code, ensuring the module has access to the appropriate message definitions for publishing or subscribing to those topics.

Purpose of includeuORBtopics is to improve dependency tracking, reduce unnecessary coupling, and ensure that only the required topics are compiled into a module’s namespace. It also aids tooling such as code completion and static checks by making explicit which uORB topics the module uses.

How it works in the build system: the directive is integrated into the module’s build configuration (such as CMakeLists.txt or a module manifest). It informs the uORB code generation process about the topics to be registered. The build system then includes the generated topic headers and ensures the broker and subscriber/publisher code have the correct type information for those topics.

Usage notes: the directive is typically placed in the module’s build configuration, with one or more topic names provided as arguments. An example in concept might be includeuORBtopics("vehicle_attitude" "sensor_baro"). Exact syntax and placement can vary by PX4 version, so consult the repository documentation for the current usage.

Relation to uORB: includeuORBtopics is a build-time aid within the uORB ecosystem, focusing on specifying topic availability for a module. It complements, rather than replaces, runtime registration and the inclusion of the actual topic headers in source files.