# HITL ROS2 PX4 uXRCE-DDS RPi Offboard control **URL:** \ **Category:** ROS 1 / ROS 2\ **Created:** [September 24, 2023, 11:13pm UTC](https://discuss.px4.io/t/hitl-ros2-px4-uxrce-dds-rpi-offboard-control/34435 "2023-09-24T23:13:34Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![Marnonel6](https://discuss.px4.io/user_avatar/discuss.px4.io/marnonel6/32/13364_2.png) [@Marnonel6](https://discuss.px4.io/u/Marnonel6)\ **Post date:** [September 24, 2023, 11:13pm UTC](https://discuss.px4.io/t/hitl-ros2-px4-uxrce-dds-rpi-offboard-control/34435/1 "2023-09-24T23:13:34Z")
Does the functionality exist to do off-board control with a RPi running the MicroXRCEAgent (over uXRCE-DDS) and the pixhawk (6X) running pre-release v1.14 with HITL Gazebo (Ignition → make px4\_sitl gz\_x500) ? Currently I can get the Off-board control to work if I have HITL switched off. As soon as I switch on HITL then the RPi can’t communicate to the Pixhawk anymore. ![image](https://discuss.px4.io/uploads/default/original/2X/2/2fb5fa05d3b374615f737cdaf9ffa7488ba653df.png) ---
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [September 28, 2023, 1:13am UTC](https://discuss.px4.io/t/hitl-ros2-px4-uxrce-dds-rpi-offboard-control/34435/2 "2023-09-28T01:13:00Z")
So you can use ROS2 from RPi with a real vehicle, but once you enable a HITL frame it stops working? I doubt this is tested, but @Benja will know (note, he is busy finishing a PhD, so you can’t expect instant response). ---
**Author:** ![Marnonel6](https://discuss.px4.io/user_avatar/discuss.px4.io/marnonel6/32/13364_2.png) [@Marnonel6](https://discuss.px4.io/u/Marnonel6)\ **Post date:** [October 3, 2023, 3:43pm UTC](https://discuss.px4.io/t/hitl-ros2-px4-uxrce-dds-rpi-offboard-control/34435/3 "2023-10-03T15:43:53Z")
Hi, Yes I figured out that this is not supported yet. Just using SITL now. Thank you.