AP_DDS: removed commented code in test and fixed comments on AP_DDS_C…

…lient

Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_joy_msg_received.py

@@ -65,12 +65,8 @@ def __init__(self):
  self.climbing_event_object = threading.Event()
 
  self._client_arm = self.create_client(ArmMotors, "/ap/arm_motors")
- # while not self._client_arm.wait_for_service(timeout_sec=1.0):
- # self.get_logger().info('arm service not available, waiting again...')
 
  self._client_mode_switch = self.create_client(ModeSwitch, "/ap/mode_switch")
- # while not self._client_mode_switch.wait_for_service(timeout_sec=1.0):
- # self.get_logger().info('mode switch service not available, waiting again...')
 
  self._joy_pub = self.create_publisher(Joy, "/ap/joy", 1) 
 
@@ -92,16 +88,13 @@ def geopose_cb(self, msg: GeoPoseStamped):
  """Process a GeoPose message."""
  stamp = msg.header.stamp
  if stamp.sec:
- # self.get_logger().info("From AP : Geopose [sec:{}, nsec: {}]".format(stamp.sec, stamp.nanosec))
-
  # Store current state
  self._cur_geopose = msg
 
  def twist_cb(self, msg: TwistStamped):
  """Process a Twist message."""
  linear = msg.twist.linear
  self._climb_rate = linear.z
- # self.get_logger().info("From AP : Twist [x:{}, y: {}, z: {}]".format(linear.x, linear.y, linear.z))
 
  def arm(self):
  req = ArmMotors.Request()

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -564,9 +564,9 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
  const uint32_t t_now = AP_HAL::millis();
 
  for (uint8_t i = 0; i < MIN(8U, rx_joy_topic.axes_size); i++) {
- // Ignore channels is NaN.
- // Setting the override to 0U releases the channel back to the RC.
+ // Ignore channel override if NaN.
  if (std::isnan(rx_joy_topic.axes[i])) {
+ // Setting the RC override to 0U releases the channel back to the RC.
  RC_Channels::set_override(i, 0U, t_now);
  } else {
  const uint16_t mapped_data = static_cast<uint16_t>(