PX4-ROS 2 node for Custom node, Error Waiting for FMU U

1

I tried to integrate the ROS 2 control interface with PX4 (firmware v1.15.4) on ROS 2 Jazzy. Here’s what I observed:

  • ROS 2 topic list before running the example shows both /fmu/in/register_ext_component_request and /fmu/out/register_ext_component_reply among many other /fmu/in/... and /fmu/out/... topics.
    When I run the built-in example_mode_manual_cpp node:
    ros2 run example_mode_manual_cpp example_mode_manual
    it logs:
    [DEBUG] [example_mode_manual]: Waiting for FMU…
    [DEBUG] [example_mode_manual]: timeout while waiting for FMU
    terminate called after throwing an instance of ‘std::runtime_error’
    what(): Registration failed
    even though other /fmu/out/* topics (like /fmu/out/input_rc) are being published normally.
    It seems the RegisterExtComponentReply is visible on the topic list, but the example never actually receives it, so doRegister() times out and the node aborts.
2

@Benja Is this something you can advise on? I can see that the topic is supposed to be exported in v1.15 PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml at release/1.15 · PX4/PX4-Autopilot · GitHub

3

Hi @vinothpandiyan , have you tried listening to /fmu/out/register_ext_component_reply to check if the reply reaches the ROS 2 network?