Publishing sensor data on uorb

Hi guys,

I have a platform available that runs Linux, now I am trying to connect everything with PX4 to make it suitable as an autonomous drone platform.
I am already able to read the sensor data in specific files on the system but now my question is how would I correctly publish this data, should I use a df driver since I am running linux?
Are there any examples that I can use?

Thanks in advance!

Have you considered FastRTPS?