Is there a way to know the publisher of a topic? What does `wq:` mean?

Hello everyone,

I am new to PX4 and want to add some code to the firmware, I followed the tutorials online and was really surprised how easy to add my own code there.

I built the firmware FMUv5-default and uploaded it to PixHawk 4, here is what I got from the MAVLink console.

I have a quick question, is there a way to know who is the publisher of the topic right now? For example, the sensor_accel is updating at 798Hz, and I didn’t see a process called imu or icm20689 using top command (probably the px4io?) The same goes for the estimator topics.

And what does all wq:XXXX mean?


I got it. The wq means work queue.

thanks for the awesome information.