Understanding the PX4 pub/sub graph

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As I was debugging why actuator_outputs where not happening in HITL mode I built a little tool to help grock the entire uORB pub/sub graph. See my demo video and full description on my blog.

2 Likes
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Thanks for sharing, very cool! I really like how you can brose through the topics and nodes interactively.

Unfortunately, I fear you were not aware that some tooling already existed to grep through the source and find the uORB publications and subscriptions, see: https://github.com/PX4/Firmware/blob/master/Tools/uorb_graph/create.py

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ha ha, great minds, thanks for the link. Yours has lots of pretty colors:

image.png1449×651 503 KB

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Yours also looks a lot more complete… which probably explains all that python code you have :slight_smile:

image.png1108×152 15.7 KB

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Let me ping @bkueng, I think he was working on that.