Hello , since 2 day , i lost one topic : /fmu/out/vehicle_global_position and only this one !
I have tried to put stable version, master version , i have rebuild px4 with differents yalm file (the original one, another with more topics) But the topic /fmu/out/vehicule_global_position don’t want to reapear !! Really stange !!
Here is my ros2 topic list :
zit@rpi:~$ ros2 topic list
/fmu/in/actuator_outputs
/fmu/in/actuator_servos
/fmu/in/actuator_servos_trim
/fmu/in/led_control
/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_global_position
/fmu/in/vehicle_local_position
/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
/fmu/out/actuator_outputs
/fmu/out/actuator_servos
/fmu/out/actuator_servos_trim
/fmu/out/failsafe_flags
/fmu/out/failure_detector_status
/fmu/out/manual_control_setpoint
/fmu/out/sensor_accel
/fmu/out/sensor_baro
/fmu/out/sensor_combined
/fmu/out/sensor_gps
/fmu/out/sensor_gyro
/fmu/out/sensor_mag
/fmu/out/timesync_status
/fmu/out/vehicle_acceleration
/fmu/out/vehicle_air_data
/fmu/out/vehicle_angular_velocity
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_gps_position
/fmu/out/vehicle_imu
/fmu/out/vehicle_land_detected
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/fmu/out/vehicle_thrust_setpoint
/fmu/out/vehicle_torque_setpoint
/parameter_events
/rosout
zit@rpi:
Why just one topic disapear !!??
Is also absent when i put the original firmaware from qgroundcontrol.
It was présent last week and all was working perfectly ! And now impossible to have /fmu/out/vehicle/global_position come back !! It’s so stange !!
here is my dds_topic.yalm file :
#####
#
# This file maps all the topics that are to be used on the micro DDS client.
#
#####
publications:
- topic: /fmu/out/collision_constraints
type: px4_msgs::msg::CollisionConstraints
- topic: /fmu/out/actuator_outputs
type: px4_msgs::msg::ActuatorOutputs
- topic: /fmu/out/actuator_servos
type: px4_msgs::msg::ActuatorServos
- topic: /fmu/out/actuator_servos_trim
type: px4_msgs::msg::ActuatorServosTrim
- topic: /fmu/out/airspeed
type: px4_msgs::msg::Airspeed
- topic: /fmu/out/cellular_status
type: px4_msgs::msg::CellularStatus
- topic: /fmu/out/collision_report
type: px4_msgs::msg::CollisionReport
- topic: /fmu/out/differential_pressure
type: px4_msgs::msg::DifferentialPressure
- topic: /fmu/out/distance_sensor
type: px4_msgs::msg::DistanceSensor
- topic: /fmu/out/failure_detector_status
type: px4_msgs::msg::FailureDetectorStatus
- topic: /fmu/out/follow_target
type: px4_msgs::msg::FollowTarget
- topic: /fmu/out/follow_target_estimator
type: px4_msgs::msg::FollowTargetEstimator
- topic: /fmu/out/follow_target_status
type: px4_msgs::msg::FollowTargetStatus
- topic: /fmu/out/position_controller_status
type: px4_msgs::msg::PositionControllerStatus
- topic: /fmu/out/position_controller_landing_status
type: px4_msgs::msg::PositionControllerLandingStatus
- topic: /fmu/out/position_setpoint
type: px4_msgs::msg::PositionSetpoint
- topic: /fmu/out/sensor_accel
type: px4_msgs::msg::SensorAccel
- topic: /fmu/out/sensor_baro
type: px4_msgs::msg::SensorBaro
- topic: /fmu/out/sensor_gps
type: px4_msgs::msg::SensorGps
- topic: /fmu/out/sensor_gyro
type: px4_msgs::msg::SensorGyro
- topic: /fmu/out/sensor_hygrometer
type: px4_msgs::msg::SensorHygrometer
- topic: /fmu/out/wind
type: px4_msgs::msg::Wind
- topic: /fmu/out/sensor_mag
type: px4_msgs::msg::SensorMag
- topic: /fmu/out/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/out/tecs_status
type: px4_msgs::msg::TecsStatus
- topic: /fmu/out/yaw_estimator_status
type: px4_msgs::msg::YawEstimatorStatus
- topic: /fmu/out/landing_target_pose
type: px4_msgs::msg::LandingTargetPose
- topic: /fmu/out/launch_detection_status
type: px4_msgs::msg::LaunchDetectionStatus
- topic: /fmu/out/manual_control_setpoint
type: px4_msgs::msg::ManualControlSetpoint
- topic: /fmu/out/manual_control_switches
type: px4_msgs::msg::ManualControlSwitches
- topic: /fmu/out/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/out/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/out/vehicle_air_data
type: px4_msgs::msg::VehicleAirData
- topic: /fmu/out/vehicle_acceleration
type: px4_msgs::msg::VehicleAcceleration
- topic: /fmu/out/vehicle_imu
type: px4_msgs::msg::VehicleImu
- topic: /fmu/out/vehicle_land_detected
type: px4_msgs::msg::VehicleLandDetected
- topic: /fmu/out/vehicle_optical_flow_vel
type: px4_msgs::msg::VehicleOpticalFlow
- topic: /fmu/out/vehicle_optical_flow
type: px4_msgs::msg::VehicleOpticalFlowVel
- topic: /fmu/out/vehicle_roi
type: px4_msgs::msg::VehicleRoi
- topic: /fmu/out/failsafe_flags
type: px4_msgs::msg::FailsafeFlags
- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
- topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus
- topic: /fmu/out/vehicle_angular_velocity
type: px4_msgs::msg::VehicleAngularVelocity
- topic: /fmu/out/vehicle_attitude
type: px4_msgs::msg::vehicleAttitude
- topic: /fmu/out/vehicle_control_mode
type: px4_msgs::msg::VehicleControlMode
- topic: /fmu/out/vehicle_gps_position
type: px4_msgs::msg::SensorGps
- topic: /fmu/in/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
- topic: /fmu/out/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
subscriptions:
- topic: /fmu/in/offboard_control_mode
type: px4_msgs::msg::OffboardControlMode
- topic: /fmu/in/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/in/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/in/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/in/telemetry_status
type: px4_msgs::msg::TelemetryStatus
- topic: /fmu/in/trajectory_setpoint
type: px4_msgs::msg::TrajectorySetpoint
- topic: /fmu/in/vehicle_attitude_setpoint
type: px4_msgs::msg::VehicleAttitudeSetpoint
- topic: /fmu/in/vehicle_mocap_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/vehicle_visual_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_command
type: px4_msgs::msg::VehicleCommand
- topic: /fmu/in/vehicle_trajectory_bezier
type: px4_msgs::msg::VehicleTrajectoryBezier
- topic: /fmu/in/vehicle_trajectory_waypoint
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/in/actuator_outputs
type: px4_msgs::msg::ActuatorOutputs
- topic: /fmu/in/actuator_servos
type: px4_msgs::msg::ActuatorServos
- topic: /fmu/in/actuator_servos_trim
type: px4_msgs::msg::ActuatorServosTrim
- topic: /fmu/in/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
- topic: /fmu/in/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
- topic: /fmu/in/led_control
type: px4_msgs::msg::LedControl
- topic: /fmu/in/vehicle_thrust_setpoint
type: px4_msgs::msg::VehicleThrustSetpoint
- topic: /fmu/in/vehicle_torque_setpoint
type: px4_msgs::msg::VehicleTorqueSetpoint
I not understand how is can be possible !! thanks for any help to understand this mystery !!
Benja
May 3, 2023, 7:11pm
2
There is a typo, it should be /fmu/out/vehicle_global_position
. As it it right now it is colliding with the subscriber.
Do you really need to publish and to subscribe to all these topics?
Hello Benja, thanks for reply !
Since yesterday the topic /fmu/out/vehicle_torque_setpoint disapear also !!
In my dds_topics.yalm file I have also /fmu/in/vehicle_local_position and /fmu/out/vehicle_local_position and I can see the 2 topics when i do ros2 topic list…
No, i think i don’t need all this topics, but i have to do a hitl simulator so ROS publish the command on the “in” topic and the simulator subscribe to the “out” command topic to calculate the new position off the drone depending off the command, and i was thinking the simulator send the new position off the drone to /fmu/in/vehicle_local_position and /fmu/in/vehicle_global_poition, then ros compute the new command and send to the simulator, ect…
Is not the good way to do this ?
Also the topic wind never appear , is it impossible px4 send the wind estimation to ros ?
Now the problem is when i put the stable firmware or if i build px4 with the original dds_topics.yalm file , the topics don’t come back ??!!
How this can be possible ?!
Thank for your help
Benja
May 4, 2023, 4:15pm
4
Maybe I was not clear. Let me repeat. I’m considering this dds_topics.yaml that you shared:
Olivier_Olivier:
here is my dds_topic.yalm file :
#####
#
# This file maps all the topics that are to be used on the micro DDS client.
#
#####
publications:
- topic: /fmu/out/collision_constraints
type: px4_msgs::msg::CollisionConstraints
- topic: /fmu/out/actuator_outputs
type: px4_msgs::msg::ActuatorOutputs
- topic: /fmu/out/actuator_servos
type: px4_msgs::msg::ActuatorServos
- topic: /fmu/out/actuator_servos_trim
type: px4_msgs::msg::ActuatorServosTrim
- topic: /fmu/out/airspeed
type: px4_msgs::msg::Airspeed
- topic: /fmu/out/cellular_status
type: px4_msgs::msg::CellularStatus
- topic: /fmu/out/collision_report
type: px4_msgs::msg::CollisionReport
- topic: /fmu/out/differential_pressure
type: px4_msgs::msg::DifferentialPressure
- topic: /fmu/out/distance_sensor
type: px4_msgs::msg::DistanceSensor
- topic: /fmu/out/failure_detector_status
type: px4_msgs::msg::FailureDetectorStatus
- topic: /fmu/out/follow_target
type: px4_msgs::msg::FollowTarget
- topic: /fmu/out/follow_target_estimator
type: px4_msgs::msg::FollowTargetEstimator
- topic: /fmu/out/follow_target_status
type: px4_msgs::msg::FollowTargetStatus
- topic: /fmu/out/position_controller_status
type: px4_msgs::msg::PositionControllerStatus
- topic: /fmu/out/position_controller_landing_status
type: px4_msgs::msg::PositionControllerLandingStatus
- topic: /fmu/out/position_setpoint
type: px4_msgs::msg::PositionSetpoint
- topic: /fmu/out/sensor_accel
type: px4_msgs::msg::SensorAccel
- topic: /fmu/out/sensor_baro
type: px4_msgs::msg::SensorBaro
- topic: /fmu/out/sensor_gps
type: px4_msgs::msg::SensorGps
- topic: /fmu/out/sensor_gyro
type: px4_msgs::msg::SensorGyro
- topic: /fmu/out/sensor_hygrometer
type: px4_msgs::msg::SensorHygrometer
- topic: /fmu/out/wind
type: px4_msgs::msg::Wind
- topic: /fmu/out/sensor_mag
type: px4_msgs::msg::SensorMag
- topic: /fmu/out/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/out/tecs_status
type: px4_msgs::msg::TecsStatus
- topic: /fmu/out/yaw_estimator_status
type: px4_msgs::msg::YawEstimatorStatus
- topic: /fmu/out/landing_target_pose
type: px4_msgs::msg::LandingTargetPose
- topic: /fmu/out/launch_detection_status
type: px4_msgs::msg::LaunchDetectionStatus
- topic: /fmu/out/manual_control_setpoint
type: px4_msgs::msg::ManualControlSetpoint
- topic: /fmu/out/manual_control_switches
type: px4_msgs::msg::ManualControlSwitches
- topic: /fmu/out/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/out/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/out/vehicle_air_data
type: px4_msgs::msg::VehicleAirData
- topic: /fmu/out/vehicle_acceleration
type: px4_msgs::msg::VehicleAcceleration
- topic: /fmu/out/vehicle_imu
type: px4_msgs::msg::VehicleImu
- topic: /fmu/out/vehicle_land_detected
type: px4_msgs::msg::VehicleLandDetected
- topic: /fmu/out/vehicle_optical_flow_vel
type: px4_msgs::msg::VehicleOpticalFlow
- topic: /fmu/out/vehicle_optical_flow
type: px4_msgs::msg::VehicleOpticalFlowVel
- topic: /fmu/out/vehicle_roi
type: px4_msgs::msg::VehicleRoi
- topic: /fmu/out/failsafe_flags
type: px4_msgs::msg::FailsafeFlags
- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
- topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus
- topic: /fmu/out/vehicle_angular_velocity
type: px4_msgs::msg::VehicleAngularVelocity
- topic: /fmu/out/vehicle_attitude
type: px4_msgs::msg::vehicleAttitude
- topic: /fmu/out/vehicle_control_mode
type: px4_msgs::msg::VehicleControlMode
- topic: /fmu/out/vehicle_gps_position
type: px4_msgs::msg::SensorGps
- topic: /fmu/in/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
- topic: /fmu/out/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
subscriptions:
- topic: /fmu/in/offboard_control_mode
type: px4_msgs::msg::OffboardControlMode
- topic: /fmu/in/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/in/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/in/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/in/telemetry_status
type: px4_msgs::msg::TelemetryStatus
- topic: /fmu/in/trajectory_setpoint
type: px4_msgs::msg::TrajectorySetpoint
- topic: /fmu/in/vehicle_attitude_setpoint
type: px4_msgs::msg::VehicleAttitudeSetpoint
- topic: /fmu/in/vehicle_mocap_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/vehicle_visual_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_command
type: px4_msgs::msg::VehicleCommand
- topic: /fmu/in/vehicle_trajectory_bezier
type: px4_msgs::msg::VehicleTrajectoryBezier
- topic: /fmu/in/vehicle_trajectory_waypoint
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/in/actuator_outputs
type: px4_msgs::msg::ActuatorOutputs
- topic: /fmu/in/actuator_servos
type: px4_msgs::msg::ActuatorServos
- topic: /fmu/in/actuator_servos_trim
type: px4_msgs::msg::ActuatorServosTrim
- topic: /fmu/in/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
- topic: /fmu/in/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
- topic: /fmu/in/led_control
type: px4_msgs::msg::LedControl
- topic: /fmu/in/vehicle_thrust_setpoint
type: px4_msgs::msg::VehicleThrustSetpoint
- topic: /fmu/in/vehicle_torque_setpoint
type: px4_msgs::msg::VehicleTorqueSetpoint
There you have an entry under publications
:
- topic: /fmu/in/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
And then you have another under subscriptions
- topic: /fmu/in/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
This is wrong, the publisher should use out
, not in
. You cannot be surprised that you don’t see any /fmu/out/vehicle_global_position
if you don’t have it in the yaml file…
Now, regarding your idea of HITL simulator, that is not the right approach: PX4 uses sensors and algorithms (EKF2) to compute values like vehicle local position and vehicle global position. You cannot inject other values and hope that everything work. The simulator should simulate and provide the raw sensor data so that PX4 thinks that those values come from the real sensors.
Please take a look at the specific HITL docs Hardware in the Loop Simulation (HITL) | PX4 User Guide
and the general simulation doc page Simulation | PX4 User Guide
Finally, why your topics are disappearing… my guess is that you are overloading the PX4 with too many publishers and subscribers. But again, this is just a guess.
Yes but the topic is no more present with the original firmware from qgroundcontrol also !
I have corrected the dds_topics.yalm
#####
#
# This file maps all the topics that are to be used on the micro DDS client.
#
#####
publications:
- topic: /fmu/out/collision_constraints
type: px4_msgs::msg::CollisionConstraints
- topic: /fmu/out/actuator_outputs
type: px4_msgs::msg::ActuatorOutputs
- topic: /fmu/out/actuator_servos
type: px4_msgs::msg::ActuatorServos
- topic: /fmu/out/actuator_servos_trim
type: px4_msgs::msg::ActuatorServosTrim
- topic: /fmu/out/airspeed
type: px4_msgs::msg::Airspeed
- topic: /fmu/out/collision_report
type: px4_msgs::msg::CollisionReport
- topic: /fmu/out/differential_pressure
type: px4_msgs::msg::DifferentialPressure
- topic: /fmu/out/distance_sensor
type: px4_msgs::msg::DistanceSensor
- topic: /fmu/out/failure_detector_status
type: px4_msgs::msg::FailureDetectorStatus
- topic: /fmu/out/follow_target
type: px4_msgs::msg::FollowTarget
- topic: /fmu/out/follow_target_estimator
type: px4_msgs::msg::FollowTargetEstimator
- topic: /fmu/out/follow_target_status
type: px4_msgs::msg::FollowTargetStatus
- topic: /fmu/out/position_controller_status
type: px4_msgs::msg::PositionControllerStatus
- topic: /fmu/out/position_controller_landing_status
type: px4_msgs::msg::PositionControllerLandingStatus
- topic: /fmu/out/position_setpoint
type: px4_msgs::msg::PositionSetpoint
- topic: /fmu/out/sensor_accel
type: px4_msgs::msg::SensorAccel
- topic: /fmu/out/sensor_baro
type: px4_msgs::msg::SensorBaro
- topic: /fmu/out/sensor_gps
type: px4_msgs::msg::SensorGps
- topic: /fmu/out/sensor_gyro
type: px4_msgs::msg::SensorGyro
- topic: /fmu/out/sensor_hygrometer
type: px4_msgs::msg::SensorHygrometer
- topic: /fmu/out/wind
type: px4_msgs::msg::Wind
- topic: /fmu/out/sensor_mag
type: px4_msgs::msg::SensorMag
- topic: /fmu/out/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/out/tecs_status
type: px4_msgs::msg::TecsStatus
- topic: /fmu/out/yaw_estimator_status
type: px4_msgs::msg::YawEstimatorStatus
- topic: /fmu/out/landing_target_pose
type: px4_msgs::msg::LandingTargetPose
- topic: /fmu/out/launch_detection_status
type: px4_msgs::msg::LaunchDetectionStatus
- topic: /fmu/out/manual_control_setpoint
type: px4_msgs::msg::ManualControlSetpoint
- topic: /fmu/out/manual_control_switches
type: px4_msgs::msg::ManualControlSwitches
- topic: /fmu/out/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/out/onboard_computer_status
type: px4_msgs::msg::OnboardComputerStatus
- topic: /fmu/out/vehicle_air_data
type: px4_msgs::msg::VehicleAirData
- topic: /fmu/out/vehicle_acceleration
type: px4_msgs::msg::VehicleAcceleration
- topic: /fmu/out/vehicle_imu
type: px4_msgs::msg::VehicleImu
- topic: /fmu/out/vehicle_land_detected
type: px4_msgs::msg::VehicleLandDetected
- topic: /fmu/out/vehicle_optical_flow_vel
type: px4_msgs::msg::VehicleOpticalFlow
- topic: /fmu/out/vehicle_optical_flow
type: px4_msgs::msg::VehicleOpticalFlowVel
- topic: /fmu/out/vehicle_roi
type: px4_msgs::msg::VehicleRoi
- topic: /fmu/out/failsafe_flags
type: px4_msgs::msg::FailsafeFlags
- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
- topic: /fmu/out/timesync_status
type: px4_msgs::msg::TimesyncStatus
- topic: /fmu/out/vehicle_angular_velocity
type: px4_msgs::msg::VehicleAngularVelocity
- topic: /fmu/out/vehicle_attitude
type: px4_msgs::msg::vehicleAttitude
- topic: /fmu/out/vehicle_control_mode
type: px4_msgs::msg::VehicleControlMode
- topic: /fmu/out/vehicle_gps_position
type: px4_msgs::msg::SensorGps
- topic: /fmu/out/vehicle_global_position
type: px4_msgs::msg::VehicleGlobalPosition
- topic: /fmu/out/vehicle_local_position
type: px4_msgs::msg::VehicleLocalPosition
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/out/vehicle_torque_setpoint
type: px4_msgs::msg::VehicleTorqueSetpoint
subscriptions:
- topic: /fmu/in/offboard_control_mode
type: px4_msgs::msg::OffboardControlMode
- topic: /fmu/in/obstacle_distance
type: px4_msgs::msg::ObstacleDistance
- topic: /fmu/in/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/in/telemetry_status
type: px4_msgs::msg::TelemetryStatus
- topic: /fmu/in/trajectory_setpoint
type: px4_msgs::msg::TrajectorySetpoint
- topic: /fmu/in/vehicle_attitude_setpoint
type: px4_msgs::msg::VehicleAttitudeSetpoint
- topic: /fmu/in/vehicle_mocap_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_rates_setpoint
type: px4_msgs::msg::VehicleRatesSetpoint
- topic: /fmu/in/vehicle_visual_odometry
type: px4_msgs::msg::VehicleOdometry
- topic: /fmu/in/vehicle_command
type: px4_msgs::msg::VehicleCommand
- topic: /fmu/in/vehicle_trajectory_bezier
type: px4_msgs::msg::VehicleTrajectoryBezier
- topic: /fmu/in/vehicle_trajectory_waypoint
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/in/actuator_outputs
type: px4_msgs::msg::ActuatorOutputs
- topic: /fmu/in/actuator_servos
type: px4_msgs::msg::ActuatorServos
- topic: /fmu/in/actuator_servos_trim
type: px4_msgs::msg::ActuatorServosTrim
- topic: /fmu/in/vehicle_thrust_setpoint
type: px4_msgs::msg::VehicleThrustSetpoint
- topic: /fmu/in/vehicle_torque_setpoint
type: px4_msgs::msg::VehicleTorqueSetpoint
So the topic /fmu/out/vehicle_global_position is present , i just build the firmware and here is my ros2 topic list :
zit@rpi:~$ ros2 topic list
/fmu/in/actuator_outputs
/fmu/in/actuator_servos
/fmu/in/actuator_servos_trim
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/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_thrust_setpoint
/fmu/in/vehicle_torque_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/actuator_outputs
/fmu/out/actuator_servos
/fmu/out/actuator_servos_trim
/fmu/out/failsafe_flags
/fmu/out/failure_detector_status
/fmu/out/manual_control_setpoint
/fmu/out/sensor_accel
/fmu/out/sensor_baro
/fmu/out/sensor_combined
/fmu/out/sensor_gps
/fmu/out/sensor_gyro
/fmu/out/sensor_mag
/fmu/out/timesync_status
/fmu/out/vehicle_acceleration
/fmu/out/vehicle_air_data
/fmu/out/vehicle_angular_velocity
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_gps_position
/fmu/out/vehicle_imu
/fmu/out/vehicle_land_detected
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/fmu/out/vehicle_torque_setpoint
/parameter_events
/rosout
zit@rpi:~$
As you can see, vhehicle_global_position is present on the dds_topics.yalm file but not in topic list.
I have also tried to put firmwares from qground control ( stable version, dev version et beta version) this topic never come back !! How this can be possible ???
Normaly if i put the standard firmware , i should have the standard topics no ? why vehicle_global_position don’t want come back !!!
Benja
May 5, 2023, 5:50pm
6
are you sure that vehicle_global_position
is present in PX4?
if the topic is never published (say, you don’t have GPS fix) as uORB, the bridge will not create /fmu/out/vehicle_global_position
The topic was not published because i don’t have fix !! i change the gps and the new one fix more rapidly , the old one loose the fix outside.
Thank you very much for you help.
And i’m sory for my stupid question !
I have now another problem , i loose the connexion between client and agent, i have to stop the agent manually and restart it manually to recover my topics…
I will open another post with more detail.
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