Hi everyone,
I’m trying to connect my companion computer (Raspberry Pi 4 running Ubuntu 24.04 and ROS2 Jazzy) to Pixhawk 4 (running the latest stable version v1.15.0).
I start my agent on the RPi using MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600.
However, I am unable to see the topics from PX4.
user24@user24-ROG-Zephyrus:~$ ros2 topic list
/fmu/in/actuator_motors
/fmu/in/actuator_servos
/fmu/in/arming_check_reply
/fmu/in/aux_global_position
/fmu/in/config_control_setpoints
/fmu/in/config_overrides_request
/fmu/in/differential_drive_setpoint
/fmu/in/goto_setpoint
/fmu/in/manual_control_input
/fmu/in/message_format_request
/fmu/in/mode_completed
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/register_ext_component_request
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/unregister_ext_component
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_command_mode_executor
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_thrust_setpoint
/fmu/in/vehicle_torque_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/parameter_events
/rosout
I have parameters set as:
UXRCE_DDS_CFG = TELEM2
MAV_1_CONFIG = Disabled
SER_TEL2_BAUD = 921600 8N1
The “uxrce_dds_client status” from MAVLink console gives:
NuttShell (NSH) NuttX-11.0.0
nsh> uxrce_dds_client status
INFO [uxrce_dds_client] Running, connected
INFO [uxrce_dds_client] Using transport: serial
INFO [uxrce_dds_client] Payload tx: 0 B/s
INFO [uxrce_dds_client] Payload rx: 0 B/s
INFO [uxrce_dds_client] timesync converged: false
uxrce_dds_client: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
uxrce_dds_client: cycle interval: 0 events, 0.00us avg, min 0us max 0us 0.000us rms
Note that the same setup worked for version v1.14.
Also, the SITL simulation was working for v1.15.0 and I was able to get all the topics using MicroXRCEAgent udp4 -p 8888.
Can anyone help me resolve this?