Publishing custom topic with mavros

ROS / MAVROS / MicroDDS
1

Hello guys,

I am trying to publish my custom uORB topic to companion computer via mavros.
I found that there is a guide for custom message subscription via mavros(https://dev.px4.io/master/en/ros/mavros_custom_messages.html)
but not sure publication works the same way.
If I just change subscription script to publication scrip, would it be work?

Thank you in advance,
Best,
HG Lee

2

No that is not the case, please follow the ROS tutorials to understand what is going on http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B)