AP_DDS: RC topic publisher

[tizianofiorenzani]

I find it useful to have a reading of the RC sticks, which can help debugging or be used for quickly adding functions when Autonomy is developed and tested.

For example, in the past I used RC sticks to provide velocity reference to my Companion software, which is convenient as you can use the same transmitter and switch its behavior (direct stick control or through autonomy) simply by flipping a switch.

RC DDS Topic

/ap/rc topic of type arduilot_msgs/msg/Rc with:

• is_connected: bool
• receiver_rssi: value in [0, 100]
• channels[]: values in micro-seconds
• active_overrides[]: vector of bools, indicating whether a channel is overridden.

This would limit to only 8 channels by default, which I think covers the majority of situations.

PR

#28907

Platform
[ x ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine