I am running the px4_ros_com applications: Sensor Combined Listener and Vehicle GPS Position Listener. They are available to see under px4_ros_com_ros2/src/px4_ros_com/src/examples/listeners.
I am expecting to see text output of the data upon running the applications but I do not.
I am using the CUAV V5+ flight controller and running PX4 version v1.12.3 and px4_fmu-v5_rtps on it. I have connected the flight controller to my Ubuntu 20.04 laptop via the USB port and by the DSU7 debugging port using a serial-USB converter. I access the debugging port using the following command: screen /dev/ttyUSB0 57600 8N1
In the debugging port I start the Micro RTPS client with the command: micrortps_client start /dev/ttyACM0 -b 115200
In another terminal, I start the Micro RTPS Agent with the command: micrortps_agent -d /dev/ttyACM0 -b 115200 -v
And then I wait around 10 minutes for received messages to be accumulated in the agent.
From the screenshot below you can see the agent sends and receives messages:
From doing cat /dev/ttyACM0 I can see that data is definitely being sent/received on this port.
I don’t know what messages the Agent is receiving exactly but if someone could help me in finding out that would be great. And could someone help me to figure out why the Sensor Combined Listener and Vehicle GPS Position Listener applications don’t receive any data?
what version of Ubuntu are you running and what version of ros2? Anything special done regarding RMW?
In addition, can you run this command when your micrortps agent and client are running:
Where do you run that code, I guess frst you need enter nsh terminal then you have to start client with:
micrortps_client start -t UART -d /dev/tty(S1 or S2 depends on your Telem connection) then -b
I didn’t solve the issue in this post, however I achieved what I was trying to achieve in connecting PX4 (running on the flight controller) with the ROS network using MAVROS. I had to switch to using ROS1 Noetic and then use the MAVROS package to bring the data from the flight controller onto the ROS network.
Yes you are right but in that case every dev suggests ROS2 because it has RTPS in its middleware.Anyway, If I get any solution about it , I will also post this topic.
Have a nice day.
Hello. Did you find any solution? I am facing the same issue for some topics (vehicle_gps_position).The data can be seen published on other topics (sensor_combined) using ros2 topic echo.
Specifications :
Ubuntu 22.04.4 ( on Rpi 3b )
ROS2 humble with uxrce dds client
px4 1.14.0