I’m experiencing an issue with the PX4 when using the RTPS/ROS2 Interface. Both the PX4 (sitl) and the ROS2 nodes are deployed in the same machine.
I’m using the px4_ros_com package as detailed in the PX4-micrortps instructions. I’m only interested in the ROS2 communication without ROS.
These are the steps that I’m following:
- Run PX4 as follow:
make posix_sitl_rtps gazebo
- From the PX4 console I run the micrortps client:
micrortps_client start -t UDP
- Start the micrortps agent from the px4_ros_com package (not the one from the PX4 compilation):
micrortps_agent -t UDP
- Start the ROS2 node sensor listener :
In all the steps I’m getting the expected behavior but when I run the listener I’m not getting any output. It seems that nothing is published in the ROS2 topic
By quickly debugging the agent code I noticed that messages the received correctly from the client. We can exclude any communication issues with the UDP.
I can also see the nodes running using
ros2 node list.
ros2 topic list doesn’t show any topic.
Is anyone experiencing the same issue?
In general, should I expect the micrortps agent to publish topics that are directly visible from the ROS2 side?
I have two different installations of fastRTPS in my machine. I’m making sure both the agent and ROS2 are using the same installation. Not sure this can cause any issue.
Please let me know if you need more details.