RTPS Client-Agent example help

Hi guys,

I have been trying to get the rtps example runnining, but with no success. If any of you have suggestions, I would greatly appreciate them.

Here are the steps I did:

  1. pluged usb cable into the pixhawk and accessed it via:

~/src/Firmware/Tools$ ./mavlink_shell.py /dev/ttyACM0

  1. I started the micrortps_client:

nsh> micrortps_client start

UART transport: device: /dev/ttyACM0; baudrate: 460800; sleep: 1ms; poll: 1ms

no flush

  1. On my destop (which is connected to to the pixhakw via the usb) I run:

./micrortps_agent -d /dev/ttyACM0

UART transport: device: /dev/ttyACM0; baudrate: 460800; sleep: 1us; poll: 0ms

no flush
sensor_combined subscriber started
sensor_baro publisher started
while running (↓↓ 19)

Then it will continue to print these messages (↓↓ _) . Later on the pixhawk the client shuts

SENT: 3183 messages in 19983 LOOPS, 105039 bytes in 46.747 seconds - 2.25KB/s
RECEIVED: 0 messages in 10000 LOOPS, 0 bytes in 46.753 seconds - 0.00KB/s

Close UART
INFO [micrortps_client] exiting

Any suggestions ? I would really like to get the Client-Agent protocol working.

Got the same issue with this no flush

what is that ?

I am facing similar issues! Were you able to solve this?

yeah its because there are some mavlink message send over this serial by default. you have to set rcS file telem 2 to be magic such that there is nothing sent, then you can use rtps