I’m doing HITL with, px4 v6x, Jetson AGX nano, linux PC.
As I mentioned at the title, uXRCE cannot create some topics.
At the Jetson, when I run the MicroXRCE Agent, the result is like below.
[1705565637.362882] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
[1705565637.363674] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1705565638.268393] info | Root.cpp | create_client | create | client_key: 0x00000001, session_id: 0x81
[1705565638.268655] info | SessionManager.hpp | establish_session | session established | client_key: 0x00000001, address: 192.168.0.4:22876
[1705565638.282608] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x00000001, participant_id: 0x001(1)
[1705565638.284105] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E8(2), participant_id: 0x001(1)
[1705565638.284345] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E8(4), participant_id: 0x001(1)
[1705565638.286967] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E8(6), subscriber_id: 0x3E8(4)
[1705565638.287996] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E9(2), participant_id: 0x001(1)
[1705565638.288060] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E9(4), participant_id: 0x001(1)
[1705565638.288252] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E9(6), subscriber_id: 0x3E9(4)
[1705565638.288821] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EA(2), participant_id: 0x001(1)
[1705565638.288869] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EA(4), participant_id: 0x001(1)
[1705565638.289033] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EA(6), subscriber_id: 0x3EA(4)
[1705565638.290039] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EB(2), participant_id: 0x001(1)
[1705565638.290093] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EB(4), participant_id: 0x001(1)
[1705565638.290273] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EB(6), subscriber_id: 0x3EB(4)
[1705565638.290948] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EC(2), participant_id: 0x001(1)
[1705565638.290994] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EC(4), participant_id: 0x001(1)
[1705565638.291172] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EC(6), subscriber_id: 0x3EC(4)
[1705565638.291975] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3ED(2), participant_id: 0x001(1)
[1705565638.292034] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3ED(4), participant_id: 0x001(1)
[1705565638.292211] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3ED(6), subscriber_id: 0x3ED(4)
[1705565638.292848] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EE(2), participant_id: 0x001(1)
[1705565638.292911] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EE(4), participant_id: 0x001(1)
[1705565638.293069] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EE(6), subscriber_id: 0x3EE(4)
[1705565638.293930] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EF(2), participant_id: 0x001(1)
[1705565638.293997] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EF(4), participant_id: 0x001(1)
[1705565638.294175] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EF(6), subscriber_id: 0x3EF(4)
[1705565638.294809] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3F0(2), participant_id: 0x001(1)
[1705565638.294854] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3F0(4), participant_id: 0x001(1)
[1705565638.295011] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3F0(6), subscriber_id: 0x3F0(4)
[1705565638.295811] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3F1(2), participant_id: 0x001(1)
[1705565638.295869] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3F1(4), participant_id: 0x001(1)
[1705565638.296033] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3F1(6), subscriber_id: 0x3F1(4)
[1705565638.296802] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3F2(2), participant_id: 0x001(1)
[1705565638.296847] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3F2(4), participant_id: 0x001(1)
[1705565638.297014] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3F2(6), subscriber_id: 0x3F2(4)
[1705565638.298860] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3F3(2), participant_id: 0x001(1)
[1705565638.298953] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3F3(4), participant_id: 0x001(1)
[1705565638.299230] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3F3(6), subscriber_id: 0x3F3(4)
[1705565638.300173] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3F4(2), participant_id: 0x001(1)
[1705565638.300240] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3F4(4), participant_id: 0x001(1)
[1705565638.300436] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3F4(6), subscriber_id: 0x3F4(4)
[1705565638.302837] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x050(2), participant_id: 0x001(1)
[1705565638.303065] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x050(3), participant_id: 0x001(1)
[1705565638.303656] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x050(5), publisher_id: 0x050(3)
[1705565638.305968] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0BF(2), participant_id: 0x001(1)
[1705565638.306097] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0BF(3), participant_id: 0x001(1)
[1705565638.306397] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0BF(5), publisher_id: 0x0BF(3)
[1705565638.308823] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0D4(2), participant_id: 0x001(1)
[1705565638.308920] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0D4(3), participant_id: 0x001(1)
[1705565638.309179] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0D4(5), publisher_id: 0x0D4(3)
[1705565638.314795] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0E5(2), participant_id: 0x001(1)
[1705565638.314851] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0E5(3), participant_id: 0x001(1)
[1705565638.315070] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0E5(5), publisher_id: 0x0E5(3)
But the result of XRCE Client is like below.
INFO [uxrce_dds_client] No ping response, disconnecting
INFO [uxrce_dds_client] synchronized with time offset 1705562893449234us
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 191
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 80
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 212
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 229
INFO [uxrce_dds_client] No ping response, disconnecting
INFO [uxrce_dds_client] synchronized with time offset 1705562893449294us
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 80
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 191
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 212
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 229
And the result of ros2 topic list at the Jetson is like below. (No /fmu/out/sensor_combined)
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/timesync_status
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_status
/parameter_events
/rosout
I want to run the example, sensor_combined_listener but, there is no /fmu/out/sensor_combined.
Expected result of XRCE Client is this figure…
How can I solve this problem?