Thank you so much! This was very helpful. I read through the ROS2 link and was able to write the wind_listener.cpp and edit CMakeLists.txt and package.xml files and build the workspace as you described.
However, when I run ros2 run px4_ros_com wind_listener, I only get Starting wind listener node... but no data.
I presume this has something to do with the fact that Wind publisher started is not listed under Publishers when I run micrortps_agent -t UDP.
(SensorCombined publisher started is listeed.)
Furthermore, If I check:
ros2 topic echo /Wind_PubSubTopic
I get: WARNING: topic [/Wind_PubSubTopic] does not appear to be published yet
Could not determine the type for the passed topic
Are there any changes that must be made to micrortps_agent in order to start the publisher?
Update: I am able to get - Wind publisher started to appear after editing uorb_rtps_message_ids.yaml (on both the PX4-Autopilot and px4_ros_com_ros2 sides.) However, my make px4_sitl_rtps now fails with an error as described in my reply to another post:
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.cpp:55:10: fatal error: uORB_microcdr/topics/wind.h: No such file or directory
55 | #include <uORB_microcdr/topics/wind.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.