"ROS-less" External UORB Subscription

I’m working with PX4 firmware v1.14 and I’m trying to figure out how to build a dds client to interact with a microdds agent in order to access uorb topic data from a separate onboard computer. I’m trying to avoid using ROS to accomplish this, as I really only need to subscribe to one topic and don’t want to deal with installing and learning how to use ROS for this small use-case.

I found the v1.13 documentation had more detail about how to develop a uorb client without using ros for the old middleware, but the documentation for the new middleware in 1.14 seems lacking w/ regards to this specific topic. I found wading through the eprosima documentation confusing as well.

Does anyone else have experience with this? Can someone point me in the right direction?


Hi @jmltorch , for v1.14 and uxrce_dds we decided to focus the documentation on the interface with ROS 2 and skip the direct dds approach. I fear you will have to continue with eProsima documentation.