Dear all,
I am trying to switch the flight controller โ companion computer communication from RTPS to microDDS with the latest release of PX4 1.13.2. I compiled the px4_fmu-v5_rtps
target for the flight controller and started the micordds client on the flight controller. On the companion computer, I have ROS2 Humble and followed @JulianOes tutorial on how to run the microDDS bridge on ROS2. I see the topics on ROS2 and can even echo the VehicleState. So far, so good
I noticed the Timesync message was deleted in one of the latest px4_msgs updates. Thus, it got not compiled and is not available in ROS2. However, I still see a Timsync message (in/out) in the topic list output and a TimesyncStatus (out). However, I do not receive any data on either of these topics. Can anyone explain how the time sync between the companion computer and the flight controller works with microDDS or point me to a tutorial?
Looking forward to getting in touch with you. Best,
Julia
List of standard topics published by PX4 1.13.2:
/fmu/in/DebugArray
/fmu/in/DebugKeyValue
/fmu/in/DebugValue
/fmu/in/DebugVect
/fmu/in/OffboardControlMode
/fmu/in/OnboardComputerStatus
/fmu/in/OpticalFlow
/fmu/in/PositionSetpoint
/fmu/in/PositionSetpointTriplet
/fmu/in/TelemetryStatus
/fmu/in/Timesync
/fmu/in/TrajectoryBezier
/fmu/in/TrajectorySetpoint
/fmu/in/VehicleCommand
/fmu/in/VehicleLocalPositionSetpoint
/fmu/in/VehicleMocapOdometry
/fmu/in/VehicleTrajectoryBezier
/fmu/in/VehicleTrajectoryWaypoint
/fmu/in/VehicleVisualOdometry
/fmu/out/CollisionConstraints
/fmu/out/SensorCombined
/fmu/out/Timesync
/fmu/out/TimesyncStatus
/fmu/out/TrajectoryWaypoint
/fmu/out/VehicleControlMode
/fmu/out/VehicleOdometry
/fmu/out/VehicleStatus
/fmu/out/VehicleTrajectoryWaypointDesired