# Error when making rtps agent

**URL:** <https://discuss.px4.io/t/error-when-making-rtps-agent/15111>\
**Category:** Uncategorized\
**Created:** [February 10, 2020, 7:13pm UTC](https://discuss.px4.io/t/error-when-making-rtps-agent/15111 "2020-02-10T19:13:02Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![Pman6543](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/c0e974/32.png) [@Pman6543](https://discuss.px4.io/u/Pman6543)\
**Post date:** [February 10, 2020, 7:13pm UTC](https://discuss.px4.io/t/error-when-making-rtps-agent/15111/1 "2020-02-10T19:13:02Z")

</div>

> Blockquote

In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_PubSubTypes.h:29:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_Subscriber.h:48,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:66,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_.h:75:15: error: redefinition of ‘const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_LOCAL\_NED’  
const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_LOCAL\_NED = 1;  
^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_PubSubTypes.h:29:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_Subscriber.h:48,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:65,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_.h:74:15: note: ‘const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_LOCAL\_NED’ previously defined here  
const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_LOCAL\_NED = 1;  
^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_PubSubTypes.h:29:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_Subscriber.h:48,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:66,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_.h:76:15: error: redefinition of ‘const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_BODY\_NED’  
const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_BODY\_NED = 8;  
^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_PubSubTypes.h:29:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_Subscriber.h:48,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:65,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_.h:75:15: note: ‘const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_BODY\_NED’ previously defined here  
const uint8\_t position\_setpoint\_\_VELOCITY\_FRAME\_BODY\_NED = 8;  
^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:66:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_Subscriber.h:65:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::position\_setpoint\_triplet\_ getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_Subscriber.h:82:9: error: ‘px4’ does not name a type  
px4::msg::dds\_::position\_setpoint\_triplet\_ msg;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/position\_setpoint\_triplet\_Subscriber.h:92:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::position\_setpoint\_triplet\_PubSubType position\_setpoint\_tripletDataType;  
^~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:67:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/trajectory\_waypoint\_Subscriber.h:65:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::trajectory\_waypoint\_ getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/trajectory\_waypoint\_Subscriber.h:82:9: error: ‘px4’ does not name a type  
px4::msg::dds\_::trajectory\_waypoint\_ msg;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/trajectory\_waypoint\_Subscriber.h:92:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::trajectory\_waypoint\_PubSubType trajectory\_waypointDataType;  
^~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:68:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_trajectory\_waypoint\_Subscriber.h:65:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_trajectory\_waypoint\_ getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_trajectory\_waypoint\_Subscriber.h:82:9: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_trajectory\_waypoint\_ msg;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_trajectory\_waypoint\_Subscriber.h:92:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_trajectory\_waypoint\_PubSubType vehicle\_trajectory\_waypointDataType;  
^~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:69:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/onboard\_computer\_status\_Subscriber.h:65:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::onboard\_computer\_status\_ getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/onboard\_computer\_status\_Subscriber.h:82:9: error: ‘px4’ does not name a type  
px4::msg::dds\_::onboard\_computer\_status\_ msg;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/onboard\_computer\_status\_Subscriber.h:92:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::onboard\_computer\_status\_PubSubType onboard\_computer\_statusDataType;  
^~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:70:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_mocap\_odometry\_Subscriber.h:65:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_mocap\_odometry\_ getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_mocap\_odometry\_Subscriber.h:82:9: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_mocap\_odometry\_ msg;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_mocap\_odometry\_Subscriber.h:92:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_mocap\_odometry\_PubSubType vehicle\_mocap\_odometryDataType;  
^~~  
In file included from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.h:71:0,  
from /home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:34:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_visual\_odometry\_Subscriber.h:65:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_visual\_odometry\_ getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_visual\_odometry\_Subscriber.h:82:9: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_visual\_odometry\_ msg;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/vehicle\_visual\_odometry\_Subscriber.h:92:5: error: ‘px4’ does not name a type  
px4::msg::dds\_::vehicle\_visual\_odometry\_PubSubType vehicle\_visual\_odometryDataType;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp: In member function ‘void RtpsTopics::publish(uint8\_t, char\*, size\_t)’:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:291:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::adc\_report\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:294:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:300:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::airspeed\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:303:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:309:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::battery\_status\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:312:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:318:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::cpuload\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:321:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:327:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::distance\_sensor\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:330:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:336:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::estimator\_status\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:339:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:345:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::home\_position\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:348:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:354:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::iridiumsbd\_status\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:357:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:363:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::radio\_status\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:366:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:372:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::satellite\_info\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:375:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:381:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::sensor\_baro\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:384:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:390:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::sensor\_combined\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:393:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:399:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::sensor\_selection\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:402:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:408:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::vehicle\_attitude\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:411:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:417:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::vehicle\_odometry\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:420:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:426:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::vtol\_vehicle\_status\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:429:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:435:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::wind\_estimate\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:438:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:444:13: error: ‘px4’ has not been declared  
px4::msg::dds\_::collision\_constraints\_ st;  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:447:13: error: ‘st’ was not declared in this scope  
st.deserialize(cdr\_des);  
^~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp: In member function ‘bool RtpsTopics::getMsg(uint8\_t, eprosima::fastcdr::Cdr&)’:  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:465:17: error: ‘px4’ has not been declared  
px4::msg::dds\_::camera\_capture\_ msg = _camera\_capture\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:466:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:474:17: error: ‘px4’ has not been declared  
px4::msg::dds_::camera\_trigger\_ msg = _camera\_trigger\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:475:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:483:17: error: ‘px4’ has not been declared  
px4::msg::dds_::collision\_report\_ msg = _collision\_report\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:484:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:492:17: error: ‘px4’ has not been declared  
px4::msg::dds_::debug\_array\_ msg = _debug\_array\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:493:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:501:17: error: ‘px4’ has not been declared  
px4::msg::dds_::debug\_key\_value\_ msg = _debug\_key\_value\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:502:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:510:17: error: ‘px4’ has not been declared  
px4::msg::dds_::debug\_value\_ msg = _debug\_value\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:511:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:519:17: error: ‘px4’ has not been declared  
px4::msg::dds_::debug\_vect\_ msg = _debug\_vect\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:520:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:528:17: error: ‘px4’ has not been declared  
px4::msg::dds_::obstacle\_distance\_ msg = _obstacle\_distance\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:529:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:537:17: error: ‘px4’ has not been declared  
px4::msg::dds_::optical\_flow\_ msg = _optical\_flow\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:538:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:546:17: error: ‘px4’ has not been declared  
px4::msg::dds_::position\_setpoint\_ msg = _position\_setpoint\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:547:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:555:17: error: ‘px4’ has not been declared  
px4::msg::dds_::position\_setpoint\_triplet\_ msg = _position\_setpoint\_triplet\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:556:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:564:17: error: ‘px4’ has not been declared  
px4::msg::dds_::trajectory\_waypoint\_ msg = _trajectory\_waypoint\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:565:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:573:17: error: ‘px4’ has not been declared  
px4::msg::dds_::vehicle\_trajectory\_waypoint\_ msg = _vehicle\_trajectory\_waypoint\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:574:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:582:17: error: ‘px4’ has not been declared  
px4::msg::dds_::onboard\_computer\_status\_ msg = _onboard\_computer\_status\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:583:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:591:17: error: ‘px4’ has not been declared  
px4::msg::dds_::vehicle\_mocap\_odometry\_ msg = _vehicle\_mocap\_odometry\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:592:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:600:17: error: ‘px4’ has not been declared  
px4::msg::dds_::vehicle\_visual\_odometry\_ msg = \_vehicle\_visual\_odometry\_sub.getMsg();  
^~~  
/home/nrivera/src/Firmware/build/px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/micrortps\_agent/RtpsTopics.cpp:601:17: error: ‘msg’ was not declared in this scope  
msg.serialize(scdr);  
^~~  
CMakeFiles/micrortps\_agent.dir/build.make:62: recipe for target ‘CMakeFiles/micrortps\_agent.dir/RtpsTopics.cpp.o’ failed  
make[2]: \*\*\* [CMakeFiles/micrortps\_agent.dir/RtpsTopics.cpp.o] Error 1  
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/micrortps\_agent.dir/all’ failed  
make[1]: \*\*\* [CMakeFiles/micrortps\_agent.dir/all] Error 2  
Makefile:83: recipe for target ‘all’ failed  
make: \*\*\* [all] Error 2

> Blockquote

This is what I get when I try to build my rtps agent. All previous steps worked in the px4 dev guide. I was having issues with the .sh files in the installation part of the guide: [Ubuntu/Debian Linux · PX4 Developer Guide](https://dev.px4.io/v1.9.0/en/setup/dev_env_linux_ubuntu.html). So I installed FastRTPS following it’s independend instructions: [Fast RTPS installation · PX4 Developer Guide](https://dev.px4.io/v1.9.0/en/setup/fast-rtps-installation.html)

---

<div class="post-metadata">

**Author:** ![michele](https://discuss.px4.io/user_avatar/discuss.px4.io/michele/32/6629_2.png) [@michele](https://discuss.px4.io/u/michele)\
**Post date:** [July 14, 2020, 5:50am UTC](https://discuss.px4.io/t/error-when-making-rtps-agent/15111/2 "2020-07-14T05:50:55Z")

</div>

Did you solve the problem?  
I have the same problem:

px4\_sitl\_rtps/src/modules/micrortps\_bridge/micrortps\_client/mi  
crortps\_agent/home\_position\_Publisher.h:60:18: error: ‘px4’ has not been declared  
void publish(px4::msg::home\_position\* st);

---

<div class="post-metadata">

**Author:** ![michele](https://discuss.px4.io/user_avatar/discuss.px4.io/michele/32/6629_2.png) [@michele](https://discuss.px4.io/u/michele)\
**Post date:** [July 14, 2020, 8:26am UTC](https://discuss.px4.io/t/error-when-making-rtps-agent/15111/3 "2020-07-14T08:26:39Z")

</div>

ok, I understand that the problem is that I made the px4\_sitl\_rtps from a ROS2 environment.  
If you make it from an non-sourced ros2 environment, then this problem doesn’t exist anymore.  
I have now a problem of fastRTPS version:

error: ‘class eprosima::fastrtps::rtps::BuiltinAttributes’ has no member named ‘discovery\_config’  
PParam.rtps.builtin.discovery\_config.leaseDuration = c\_TimeInfinite;

Is there a kind of concordance which version of px4 with which rtps version?  
I am using v1.10.2