I’ve had some success with SITL: creating ROS2 bridge listeners and advertisers through px4_sitl_rtps jmavsim. Thanks for your help there!
Next, I’d like to have the ROS2 bridge code running on Pixhawk 4 hardware. I understand that I should upload a custom .px4 firmware file, but I’m not sure how to generate the correct one. I can make px4_fmu-v5_rtps and upload the resulting .px4 file; however, it doesn’t seem to capture the most up-to-date settings on the ROS2 bridge (e.g., the .yaml send and recieve labels, or micrortps_client starting automatically). Messages are not being transmitted or received via the ROS2 bridge using px4_fmu-v5_rtps.px4.
Is there any guidance on the right way to configure the ROS2 bridge in hardware? The tutorials seem to focus on SITL.