Hi, i’m working on making a simulator communicate with PX4 using fastRTPS. Long story short, doing this would be great, but i am currently very stuck.
I want my simulator to communicate with the
microRTPS_agent, just like
- I’ve managed to make
microRTPS_agentruns and etc.
- I’ve defined the messages the simulator needs as
.idlfiles and created publishers/subscribers using the
I can’t seem to figure out how to make a cpp program communicate with the
microRTPS agent. This is akin to figuring out how
ROS2 communicates with the
microRTPS_agent. Similarly, how does
PX4 communicate with the
The documentation is very vague about what the
microRTPS_clients are. E.g.
The Agent runs as a daemon process on an offboard computer (outside the flight controller). This agent watches for uORB update messages from the Client and (re)publishes them over RTPS, and also subscribes to “uORB”…
This doesn’t make it clear to me what types the
agent is in terms of Fast DDS/RTP lingo. Is it a server or a domain participant? Are
PX4 domain participants?
I honestly don’t know if i am even asking the right questions here! Any advice would be greatly appreciated!