Please forgive my poor explanation in the last post.
I tried this method to compile the Agent. The onboard computer is an Orange Pi AI Pro and the flight controller is a Pixhawk 6C.
use PX4 v1.15.4 stable and ROS2 humble
Here is my wiring diagram (5V, RTS, and CTS are not connected),I’ve confirmed that the RX, TX, and GND wiring is correct.
Launching the Agent:
HwHiAiUser@orangepiaipro:~/Desktop$ sudo LD_LIBRARY_PATH=/usr/local/lib MicroXRCEAgent serial --dev /dev/ttyAMA2 -b 921600
[sudo] password for HwHiAiUser:
[1752753332.685699] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1752753332.686226] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1752753333.429373] info | Root.cpp | create_client | create | client_key: 0x00000001, session_id: 0x81
[1752753333.429485] info | SessionManager.hpp | establish_session | session established | client_key: 0x00000001, address: 1
[1752753333.448333] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x00000001, participant_id: 0x001(1)
[1752753333.451305] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x800(2), participant_id: 0x001(1)
[1752753333.451472] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x800(4), participant_id: 0x001(1)
[1752753333.454819] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x800(6), subscriber_id: 0x800(4)
[1752753333.457747] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x801(2), participant_id: 0x001(1)
[1752753333.457839] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x801(4), participant_id: 0x001(1)
[1752753333.458302] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x801(6), subscriber_id: 0x801(4)
[1752753333.461166] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x802(2), participant_id: 0x001(1)
[1752753333.461259] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x802(4), participant_id: 0x001(1)
[1752753333.461708] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x802(6), subscriber_id: 0x802(4)
[1752753333.469311] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x803(2), participant_id: 0x001(1)
[1752753333.469540] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x803(4), participant_id: 0x001(1)
[1752753333.479848] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x803(6), subscriber_id: 0x803(4)
[1752753333.491238] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x804(2), participant_id: 0x001(1)
[1752753333.491450] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x804(4), participant_id: 0x001(1)
[1752753333.492041] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x804(6), subscriber_id: 0x804(4)
[1752753333.494905] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x805(2), participant_id: 0x001(1)
[1752753333.494994] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x805(4), participant_id: 0x001(1)
[1752753333.495521] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x805(6), subscriber_id: 0x805(4)
[1752753333.498632] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x806(2), participant_id: 0x001(1)
[1752753333.498724] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x806(4), participant_id: 0x001(1)
[1752753333.499687] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x806(6), subscriber_id: 0x806(4)
[1752753333.502575] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x807(2), participant_id: 0x001(1)
[1752753333.502655] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x807(4), participant_id: 0x001(1)
[1752753333.503121] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x807(6), subscriber_id: 0x807(4)
[1752753333.507125] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x808(2), participant_id: 0x001(1)
[1752753333.507339] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x808(4), participant_id: 0x001(1)
[1752753333.507925] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x808(6), subscriber_id: 0x808(4)
[1752753333.510986] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x809(2), participant_id: 0x001(1)
[1752753333.511062] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x809(4), participant_id: 0x001(1)
[1752753333.511520] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x809(6), subscriber_id: 0x809(4)
[1752753333.515109] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x80A(2), participant_id: 0x001(1)
[1752753333.515181] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x80A(4), participant_id: 0x001(1)
[1752753333.515731] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x80A(6), subscriber_id: 0x80A(4)
[1752753333.518636] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x80B(2), participant_id: 0x001(1)
[1752753333.518703] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x80B(4), participant_id: 0x001(1)
[1752753333.519124] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x80B(6), subscriber_id: 0x80B(4)
[1752753333.522316] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x80C(2), participant_id: 0x001(1)
[1752753333.522376] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x80C(4), participant_id: 0x001(1)
[1752753333.522770] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x80C(6), subscriber_id: 0x80C(4)
[1752753333.526153] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x80D(2), participant_id: 0x001(1)
[1752753333.526216] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x80D(4), participant_id: 0x001(1)
[1752753333.526626] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x80D(6), subscriber_id: 0x80D(4)
[1752753333.530469] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x80E(2), participant_id: 0x001(1)
[1752753333.530583] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x80E(4), participant_id: 0x001(1)
[1752753333.531033] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x80E(6), subscriber_id: 0x80E(4)
[1752753333.534392] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x80F(2), participant_id: 0x001(1)
[1752753333.534461] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x80F(4), participant_id: 0x001(1)
[1752753333.534872] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x80F(6), subscriber_id: 0x80F(4)
[1752753333.538547] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x810(2), participant_id: 0x001(1)
[1752753333.538605] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x810(4), participant_id: 0x001(1)
[1752753333.539009] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x810(6), subscriber_id: 0x810(4)
[1752753333.542844] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x811(2), participant_id: 0x001(1)
[1752753333.542904] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x811(4), participant_id: 0x001(1)
[1752753333.543365] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x811(6), subscriber_id: 0x811(4)
[1752753333.546992] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x812(2), participant_id: 0x001(1)
[1752753333.547058] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x812(4), participant_id: 0x001(1)
[1752753333.547534] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x812(6), subscriber_id: 0x812(4)
[1752753333.550603] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x813(2), participant_id: 0x001(1)
[1752753333.550690] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x813(4), participant_id: 0x001(1)
[1752753333.551142] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x813(6), subscriber_id: 0x813(4)
[1752753333.554002] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x814(2), participant_id: 0x001(1)
[1752753333.554127] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x814(4), participant_id: 0x001(1)
[1752753333.554612] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x814(6), subscriber_id: 0x814(4)
[1752753333.557472] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x815(2), participant_id: 0x001(1)
[1752753333.557587] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x815(4), participant_id: 0x001(1)
[1752753333.558064] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x815(6), subscriber_id: 0x815(4)
[1752753333.562731] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x816(2), participant_id: 0x001(1)
[1752753333.562839] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x816(4), participant_id: 0x001(1)
[1752753333.563348] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x816(6), subscriber_id: 0x816(4)
[1752753333.566409] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x817(2), participant_id: 0x001(1)
[1752753333.566498] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x817(4), participant_id: 0x001(1)
[1752753333.566942] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x817(6), subscriber_id: 0x817(4)
[1752753333.570970] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x818(2), participant_id: 0x001(1)
[1752753333.571057] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x818(4), participant_id: 0x001(1)
[1752753333.571529] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x818(6), subscriber_id: 0x818(4)
[1752753333.574413] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x819(2), participant_id: 0x001(1)
[1752753333.574500] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x819(4), participant_id: 0x001(1)
[1752753333.574960] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x819(6), subscriber_id: 0x819(4)
[1752753333.577638] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x81A(2), participant_id: 0x001(1)
[1752753333.577727] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x81A(4), participant_id: 0x001(1)
[1752753333.578150] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x81A(6), subscriber_id: 0x81A(4)
[1752753333.580852] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x81B(2), participant_id: 0x001(1)
[1752753333.580937] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x81B(4), participant_id: 0x001(1)
[1752753333.581353] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x81B(6), subscriber_id: 0x81B(4)
[1752753333.584292] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x81C(2), participant_id: 0x001(1)
[1752753333.584375] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x81C(4), participant_id: 0x001(1)
[1752753333.584802] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x81C(6), subscriber_id: 0x81C(4)
[1752753333.590284] info | ProxyClient.cpp | create_replier | replier created | client_key: 0x00000001, requester_id: 0x800(7), participant_id: 0x001(1)
[1752753339.323214] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x013(2), participant_id: 0x001(1)
[1752753339.323419] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x013(3), participant_id: 0x001(1)
[1752753339.323886] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x013(5), publisher_id: 0x013(3)
[1752753339.329103] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x057(2), participant_id: 0x001(1)
[1752753339.329178] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x057(3), participant_id: 0x001(1)
[1752753339.329473] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x057(5), publisher_id: 0x057(3)
[1752753339.334395] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x05D(2), participant_id: 0x001(1)
[1752753339.334499] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x05D(3), participant_id: 0x001(1)
[1752753339.334820] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x05D(5), publisher_id: 0x05D(3)
[1752753339.341167] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x08D(2), participant_id: 0x001(1)
[1752753339.341361] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x08D(3), participant_id: 0x001(1)
[1752753339.341797] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x08D(5), publisher_id: 0x08D(3)
[1752753339.345468] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0B4(2), participant_id: 0x001(1)
[1752753339.345566] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0B4(3), participant_id: 0x001(1)
[1752753339.345895] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0B4(5), publisher_id: 0x0B4(3)
[1752753339.351550] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0CB(2), participant_id: 0x001(1)
[1752753339.351630] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0CB(3), participant_id: 0x001(1)
[1752753339.351928] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0CB(5), publisher_id: 0x0CB(3)
[1752753339.355314] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0E2(2), participant_id: 0x001(1)
[1752753339.355393] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0E2(3), participant_id: 0x001(1)
[1752753339.355668] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0E2(5), publisher_id: 0x0E2(3)
[1752753339.359846] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0F2(2), participant_id: 0x001(1)
[1752753339.359941] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0F2(3), participant_id: 0x001(1)
[1752753339.360200] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0F2(5), publisher_id: 0x0F2(3)
[1752753339.363772] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0F9(2), participant_id: 0x001(1)
[1752753339.363846] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0F9(3), participant_id: 0x001(1)
[1752753339.364101] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0F9(5), publisher_id: 0x0F9(3)
[1752753339.367307] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0F6(2), participant_id: 0x001(1)
[1752753339.367386] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0F6(3), participant_id: 0x001(1)
[1752753339.367628] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0F6(5), publisher_id: 0x0F6(3)
[1752753339.370764] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0FC(2), participant_id: 0x001(1)
[1752753339.370827] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0FC(3), participant_id: 0x001(1)
[1752753339.371044] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0FC(5), publisher_id: 0x0FC(3)
[1752753339.375862] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x100(2), participant_id: 0x001(1)
[1752753339.375917] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x100(3), participant_id: 0x001(1)
Checking the processes
nsh> ps
PID GROUP PRI POLICY TYPE NPX STATE EVENT SIGMASK STACK USED FILLED COMMAND
0 0 0 FIFO Kthread N-- Ready 00000000 000726 000412 56.7% Idle Task
1 1 249 FIFO Kthread --- Waiting Semaphore 00000000 001224 000292 23.8% hpwork 0x24000998
2 2 50 FIFO Kthread --- Waiting Semaphore 00000000 001576 000292 18.5% lpwork 0x240009ac
3 3 100 FIFO Task --- Waiting Semaphore 00000000 003144 002332 74.1% nsh_main
4 4 255 FIFO Task --- Waiting Semaphore 00000000 001232 000452 36.6% wq:manager
5 4 205 FIFO pthread --- Waiting Semaphore 00000000 001896 001428 75.3% wq:lp_default 0x81f15cc
422 422 90 FIFO Task --- Waiting Semaphore 00000000 001376 001084 78.7% dataman
999 999 100 FIFO Task --- Waiting Semaphore 00000000 009872 009232 93.5%! uxrce_dds_client start -t serial -d /dev/ttyS3 -b p:SER_TEL2_BAUD
488 4 255 FIFO pthread --- Waiting Semaphore 00000000 003120 002308 73.9% wq:rate_ctrl 0x81e51b8
1097 4 236 FIFO pthread --- Waiting Semaphore 00000000 003600 002252 62.5% wq:uavcan 0x81994a8
491 4 253 FIFO pthread --- Waiting Semaphore 00000000 002368 001808 76.3% wq:SPI1 0x81f437c
717 4 242 FIFO pthread --- Waiting Semaphore 00000000 002216 001340 60.4% wq:nav_and_controllers 0x81af980
398 4 237 FIFO pthread --- Waiting Semaphore 00000000 002776 001112 40.0% wq:hp_default 0x8197ed8
1009 1009 105 FIFO Task --- Waiting Semaphore 00000000 002104 001512 71.8% navigator start
882 882 205 FIFO Task --- Waiting Signal 00000000 001936 001204 62.1% gps start -d /dev/ttyS0 -b p:SER_GPS1_BAUD
1107 1107 100 FIFO Task --- Waiting Signal 00000000 002792 001948 69.7% mavlink_if1 mavlink start -d /dev/ttyACM0 -m 2
1076 1076 230 FIFO Task --- Waiting Semaphore 00000000 003616 003060 84.6%! logger start -b 64 -t
949 949 100 FIFO Task --- Waiting Signal 00000000 002704 001916 70.8% mavlink_if0 mavlink start -d /dev/ttyS5 -b p:SER_TEL1_BAUD -m p:MAV_0_MODE -r p:MAV_0_RATE -f -s -x
950 949 175 FIFO pthread --- Waiting Semaphore 00000000 004776 001324 27.7% mavlink_rcv_if0 0x2001e598
727 4 241 FIFO pthread --- Waiting Semaphore 00000000 005976 003660 61.2% wq:INS0 0x81f4354
1112 1107 175 FIFO pthread --- Waiting Semaphore 00000000 004776 001588 33.2% mavlink_rcv_if1 0x30019518
505 4 243 FIFO pthread --- Waiting Semaphore 00000000 002312 000900 38.9% wq:I2C4 0x81f434c
730 4 240 FIFO pthread --- Waiting Semaphore 00000000 005976 003660 61.2% wq:INS1 0x81f435c
1083 1076 60 FIFO pthread --- Waiting Semaphore 00000000 001144 000388 33.9% log_writer_file 0x3000d480
1116 1116 100 FIFO Task --- Running 00000000 002000 001452 72.6% mavlink_shell
733 733 140 FIFO Task --- Waiting Signal 00000000 003192 001524 47.7% commander start
447 4 246 FIFO pthread --- Waiting Semaphore 00000000 002312 000896 38.7% wq:I2C1 0x81f4334
Viewing more detailed information
nsh> dmesg
oard sensors: /etc/init.d/rc.board_sensors
bmi055_accel #0 on SPI bus 1 rotation 4
bmi055_gyro #0 on SPI bus 1 rotation 4
icm42688p #0 on SPI bus 1 rotation 6
ms5611 #0 on I2C bus 4 (external) address 0x77
ist8310 #0 on I2C bus 4 (external) address 0xC
ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10
WARN [SPI_I2C] Already running on bus 1
WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 4325386
ekf2 [746:237]
Starting Main GPS on /dev/ttyS0
Starting MAVLink on /dev/ttyS5
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B
Starting UXRCE-DDS Client on /dev/ttyS3
INFO [uxrce_dds_client] init serial /dev/ttyS3 @ 921600 baud
INFO [cdcacm_autostart] Starting CDC/ACM autostart
INFO [logger] logger started (mode=all)
INFO [uavcan] Node ID 1, bitrate 1000000
NuttShell (NSH) NuttX-11.0.0
nsh> sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2)
INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B
WARN [load_mon] dataman low on stack! (292 bytes left)
INFO [gps] u-blox firmware version: SPG 5.10
INFO [gps] u-blox protocol version: 34.10
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
INFO [uxrce_dds_client] synchronized with time offset 1752752755398071us
INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87
INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93
INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 141
INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 180
INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 203
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 226
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 242
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 249
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 246
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 252
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 256
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 261
INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 266
INFO [uxrce_dds_client] time sync converged
INFO [mavlink] Starting mavlink shell
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
WARN [load_mon] dataman low on stack! (292 bytes left)
Checking the client status
nsh> uxrce_dds_client status
INFO [uxrce_dds_client] Running, connected
INFO [uxrce_dds_client] Using transport: serial
INFO [uxrce_dds_client] Payload tx: 66231 B/s
INFO [uxrce_dds_client] Payload rx: 0 B/s
INFO [uxrce_dds_client] timesync converged: true
uxrce_dds_client: cycle: 3614 events, 15027504us elapsed, 4158.14us avg, min 103us max 68590us 4207.644us rms
uxrce_dds_client: cycle interval: 3615 events, 4158.07us avg, min 104us max 68591us 4206.951us rms
This is the result of my ROS2 run：
I also manually started the client at different baud rates, but the ROS2 results were the same.
I’d be grateful for any advice you might have.