Is it possible de have the thrust and torque (FRD) in the offboard mode?

PX4 Autopilot
1

Hi,

Iam using ROS2 and

2

You probably mean this interface:

Or with MAVSDK:

3

Thanks and sorry, I dint saw that my topic was published…I was going to ask about missing topics
/fmu/out/vehicle_thrust_setpoint and /fmu/out/vehicle_torque_setpoint using uXRCE-DDS middleware .
I found the solution :
I was able to add them to src/modules/uxrce_dds_client/dds_topics.yaml

# PX4‑Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml
publications:               # PX4 → ROS 2
  # … existing topics …
  - topic: /fmu/out/vehicle_thrust_setpoint
    type: px4_msgs::msg::VehicleThrustSetpoint
  - topic: /fmu/out/vehicle_torque_setpoint
    type: px4_msgs::msg::VehicleTorqueSetpoint

For STIL wit X500, we should Build & run again :

cd ~/PX4-Autopilot  
make px4_sitl gz_x500
MicroXRCEAgent udp4 -p 8888

Hope this help !

4

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