Ros2 control servo via xrce agent/client

ROS / MAVROS / MicroDDS
21

you need to edit dds_topoic.yaml …

uXRCE-DDS (PX4-ROS 2/DDS Bridge) | PX4 User Guide (main) here is the complete documentation.

you can add /fmu/in/actuator_servo and other topics you think you need.

22

Thank you very much. You can see in the screenshot .I have published /fmu/in/actuator_servo topic。But the PWM values I see in QGC mavlink Inspector is not what Ihave published。

图片1
图片1898×394 172 KB

23

offboardcontrolboard
offboardcontrolboard1082×675 18.7 KB

图片2
图片21882×483 44.9 KB

@ [Olivier_Olivier]，Thank you very much,I have solved this problem。That’s because that the file offboardcontrolmode.msg in ros2 node package is different from PX4-Autopilot.