I use ROS2 foxy on a companion computer that is connected to FMU with px4_rtps via UART.
Whenever I try to start micrortps agent on the companion computer, I get the following output:
~/px4_ros_com_ros2$ micrortps_agent -d /dev/ttymxc2 -b 921600 --- MicroRTPS Agent --- [ micrortps_agent ] Starting link... [ micrortps_agent ] UART transport: device: /dev/ttymxc2; baudrate: 921600; sleep: 1us; poll: 1ms; flow_control: No --- Subscribers --- - DebugArray subscriber started - DebugKeyValue subscriber started - DebugValue subscriber started - DebugVect subscriber started - OpticalFlow subscriber started - PositionSetpoint subscriber started - PositionSetpointTriplet subscriber started - Timesync subscriber started - TrajectoryWaypoint subscriber started - VehicleTrajectoryWaypoint subscriber started - OnboardComputerStatus subscriber started - VehicleMocapOdometry subscriber started - VehicleVisualOdometry subscriber started ----------------------- ---- Publishers ---- - InputRc publisher started - SatelliteInfo publisher started - SensorCombined publisher started - Timesync publisher started - VehicleOdometry publisher started - CollisionConstraints publisher started ----------------------- [ micrortps_agent ] Unexpected topic ID to publish [ micrortps_agent ] Unexpected topic ID to publish . . **[I clicked ctrl+C]** **^C**[ micrortps_agent ] Interrupt signal (2) received. [ micrortps_transport ] Closed UART. [ micrortps_agent ] SENT: 52messages - 2600bytes [ micrortps_agent ] RECEIVED: 2684messages - 312298bytes; 2795 LOOPS - 5.136 seconds - 60.80KB/s [ micrortps_agent ] Unexpected topic ID '0' to getMsg
If I leave if for a while without pressing ctrl+C, I get the following error:
[ micrortps_agent ] Unexpected topic ID to publish [ micrortps_agent ] Unexpected topic ID to publish [ micrortps_agent ] Unexpected topic ID to publish [ micrortps_agent ] Unexpected topic ID to publish terminate called after throwing an instance of 'eprosima::fastcdr::exception::BadParamException' what(): Unexpected byte value in Cdr::deserialize(bool), expected 0 or 1
Also, my px4 shell keeps displaying the following warning:
WARN [micrortps_client] Unexpected topic ID
Could somebody tell me what might be a cause to such an issue? Thanks!