Serial communication problem between PX4 and Nvidia Jetson Orin Nano

PX4 Autopilot
1

Ubuntu 22.04
ROS2 Humble
PX4 1.16

Hello everybody,

I’m controlling my fixed-wing plane (v-tail) with PX4 in CubeOrange+ . I’m trying to send ROS2 messages to px4 and in the simulation I can send them using the XRCE-DDS Agent. It all works and my plane in the gazebo works according to the messages. But nowadays I have been trying to communicate with my real plane and it doesn’t works. I use Nvidia Jetson Orin Nano Developer Kit to send ROS2 messages and I start my plane then I start my XRCE Agent. I think I can create the ros2 topics because when I go to my workspace and use the code

ros2 topic list

I can see that the topics have created and When I send offboard message for example it can be seen in the topic echo part but My plane doesn’t sees it.

I use Telem2 port to communicate with the computer and a FTDI FT232 Module to transform it to USB.

sudo /home/altek/px4_ros_uxrce_dds_ws/build/microxrcedds_agent/MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600 --max-payload 512

This is my code While I run my agent and I also change the baud rate to 921600 on my FTDI chip.

Can somebody help me with my problem I can’t send offboard signal but it normally works with the simulation.

2

Hi. I also experienced a similar problem when I used ROS 2 and DDS to connect the FC and the mission computer. In my case, it worked when I changed UXRCE_DDS_SYNCT to disabled.

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