Hello! (First-time poster so please excuse any errors.) I have been following the PX4-ROS 2 Bridge tutorial and am able to get the Sanity Check and Offboard Control examples working with SITL simulation through jMAVSim.
However, I am stuck when it comes to generating a custom RTPS listener (similar to sensor_combined_listener.cpp). To illustrate this, let’s say I want to create a wind_listener.cpp to print the contents of Wind.msg:
Broadly, I am unsure of:
- what files must be created (e.g., wind_listener.cpp, wind_listener.launch.py), and where (e.g., /px4_ros_com_ros2/src/px4_ros_com/src/examples/listeners or elsewhere),
- what edits must be made (e.g., to which CMakeLists.txt),
- what build process must be completed (e.g., build_ros2_workspace.bash)
I have tried several approaches (including
fastrtpsgen -example x64Linux2.6gcc ../micrortps_agent/idl/sensor_combined_.idl) but I think I am missing something higher-level from the tutorial. Any advice is appreciated. Thank you!