Uorb to ros2 topic using Micro XRCE-DDS. Max topic frequency limited to 100hz

PX4 Autopilot
1

In px4 sitl gazebo sim, the highest frequency of ros2 topic I get is 100hz. For example topics like /fmu/out/sensor_combined and /fmu/out/vehicle_angular_velocity , which i have checked the corresponding uorb topic rates are 250hz. Appearently there is some software limit . Is there any way to cancel the limit?

I using win11 wsl2 ubuntu 22.04, px4 version is 1.15.3

Any idea is appreciated.

1 Like
2

I also observed the same phenomenon. For future readers:

uorb

pxh> uorb top
TOPIC NAME                          INST #SUB RATE #Q SIZE
...
sensor_combined                        0    2  244  1   48
...

ROS

  • Run micro-ros-agent udp4 --port 8888
➜  study_ws ros2 topic hz /fmu/out/sensor_combined

average rate: 99.641
        min: 0.008s max: 0.012s std dev: 0.00176s window: 101