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!