Mavlink-router on ROS2 for QGC

PX4 Autopilot
1

I have a Pixhawk 6x Pro Flight controller connected with Jetson Orin AGX onboard computer running ros2. As Jetson and Flight controller are connected via an FTDI cable and communicating over DDS

MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600

I can list ros2 topic list and echo ros2 topics like /fmu/out/vehicle_status. Drone and Ground Control Station are connected over a custom telemetry over a network, I can ssh the jetson etc
I installed mavlink-router on the onboard computer. I havethe following config file at /etc/mavlink-router.conf to route the mavlink data to QGC

[UdpEndpoint dds]
Mode = Normal
Address = 127.0.0.1
Port = 8888

[UdpEndpoint qgc]
Mode = Normal
Address = 192.168.10.5
Port = 14550

[Log]
Mode = always
Directory = /tmp/mavlink-logs

[General]
ReportStats = true
UdpServer = true

but when I run it there is 0 KB data transfer

jetson@jetson:~$ sudo mavlink-routerd -c /etc/mavlink-router.conf
mavlink-router version v4-15-g51983a4
Opened UDP Client [4]qgc: 192.168.100.255:14550
Opened UDP Client [6]dds: 127.0.0.1:8888
Opened TCP Server [8] [::]:5760
UDP Endpoint [4]qgc {
	Received messages {
		CRC error: 0 0% 0KB
		Sequence lost: 0 0%
		Handled: 0 0KB
		Total: 0
	}
	Transmitted messages {
		Total: 0 0KB
	}
}
UDP Endpoint [6]dds {
	Received messages {
		CRC error: 0 0% 0KB
		Sequence lost: 0 0%
		Handled: 0 0KB
		Total: 0
	}
	Transmitted messages {
		Total: 0 0KB
	}
}
UDP Endpoint [4]qgc {
	Received messages {
		CRC error: 0 0% 0KB
		Sequence lost: 0 0%
		Handled: 0 0KB
		Total: 0
	}
	Transmitted messages {
		Total: 0 0KB
	}
}
UDP Endpoint [6]dds {
	Received messages {
		CRC error: 0 0% 0KB
		Sequence lost: 0 0%
		Handled: 0 0KB
		Total: 0
	}
	Transmitted messages {
		Total: 0 0KB
	}
}

deepseek_mermaid_20250829_197412
deepseek_mermaid_20250829_1974124053×666 176 KB

and there is no Data show in QGC

3

MAVLink messages are not ROS2 topics. The uXRCE-DDS Client on PX4 and the uXRCE-DDS Agent on Jetson forward uORB topics into DDS and convert them into ROS2 topics, but they do not handle MAVLink messages. If you want to forward MAVLink messages via UDP using MAVLink-Router, you need to add a separate connection for MAVLink forwarding. Alternatively, connect the Pixhawk6X and Jetson via Ethernet and configure the parameters so that both MAVLink and DDS are output over Ethernet. In that case, MAVLink-Router will handle MAVLink messages coming in on port 14550, and uXRCE-DDS will handle DDS data coming in on port 8888.

4

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