No sensor sensor data received using micrortps_client/agent and ROS2

Hi all,

I successfully installed:

  • Px4 Firmware 1.11
  • ROS2 Eloquent and ROS Melodic
  • FastRTPS-1.8.2 and Fast-RTPS-Gen 1.0.4

Then I build px4 firmware for holybro x500 with:
$ make px4_fmu-v5_rtps
Using QGroundControl I uploaded the file to the PX4.

When I run the following command in the MAVLink Console it states:

nsh> micrortps_client start -t UDP
INFO [micrortps_client] UDP transport: ip address:; recv port: 2019; send port: 2020; sleep: 1ms

When I run:

$ source ~/px4_ros_com_ros2/install/setup.bash
$ micrortps_agent -t UDP
--- MicroRTPS Agent ---
[   micrortps_agent   ]	Starting link...
[   micrortps_agent   ]	UDP transport: ip address:; recv port: 2020; send port: 2019; sleep: 1us
[ micrortps_transport ]	UDP transport: Trying to connect...[ micrortps_transport ]	UDP transport: Connected to server!

---   Subscribers   ---
- DebugArray subscriber started
- DebugKeyValue subscriber started
- DebugValue subscriber started
- DebugVect subscriber started
- OpticalFlow subscriber started
- PositionSetpoint subscriber started
- PositionSetpointTriplet subscriber started
- Timesync subscriber started
- TrajectoryWaypoint subscriber started
- VehicleTrajectoryWaypoint subscriber started
- OnboardComputerStatus subscriber started
- VehicleMocapOdometry subscriber started
- VehicleVisualOdometry subscriber started

----   Publishers  ----
- SatelliteInfo publisher started
- SensorCombined publisher started
- Timesync publisher started
- VehicleOdometry publisher started
- CollisionConstraints publisher started

And finally I run:

$ source ~/px4_ros_com_ros2/install/local_setup.bash
$ ros2 launch px4_ros_com
[INFO] [launch]: All log files can be found below /home/edwin/.ros/log/2020-09-25-14-13-36-170040-edwin-GL62M-7RD-26574
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sensor_combined_listener-1]: process started with pid [26588]
[sensor_combined_listener-1] Starting sensor_combined listener node...

However nothing is showing as data from the sensors. I am kind of lost here. Anybody knows the issue?

Thanks in regard!

Hey, I am also facing the same issue, so were you able to solve it? The difference is that I am using PX4 1.12.0 beta-5 and ROS Foxy but for SITL and not real hardware.