UXRCE Client and Agent not Connecting

ROS 1 / ROS 2
1

Hello, I’m trying to get a Raspberry Pi4B running Ubuntu 22.04 and ROS2 Humble connected to a Pixhawk 6C. The RPI4 is connected to the TELEM2 port using the GPIOs TX, RX pins. I have PX4 1.14 stable installed via QGC in the pixhawk, with the following relevant parameters set:
UXRCE_DDS_CFG = TELEM2
MAV_0_CONFIG = TELEM1
MAV_1_CONFIG, MAV_2_CONFIG = Disabled
SER_TEL2_BAUD = 921600 8N1
When I enter the MAVlink Console with the agent running in the RPI4 and call “uxrce_dds_client status” I get:
image
On the RPI4 side I followed the ROS 2 User Guide and installed the Micro XRCE-DDS Agent, to start it I get this:

image
image1100×85 28.5 KB

I’ve tried to reinstall the UXRCE Agent, flash a fresh PX4 1.14 stable, check the physical connection (Rx/Tx cables flipped). At this point I’m stumped, any ideas to continue debugging?

2

Hi, I have this same problem, did you fix this in the end?

3

Yeah, for future reference, when running Ubuntu Desktop/Server in a Raspberry Pi, the UART connection comes by disabled by default, to enable it you need to download raspi-config and enable serial connection.