What is the /fmu/out/vehicle_status_v1?

PX4 Autopilot
1

I updated the PX4 Autopilot and lost the vehicle status topic! Why is this happening?
I can see the vehicle status in the QGroundControl MAVLink console, but in ROS 2, the /fmu/out/vehicle_status_v1 topic (which has two publishers) does not publish any messages.

Can someone help me restore the vehicle status topic in ROS 2?

INFO  [uxrce_dds_client] synchronized with time offset 1748789165567357us
INFO  [uxrce_dds_client] successfully created rt/fmu/out/register_ext_component_reply data writer, topic id: INFO  [uxrce_dds_client] successfully created rt/fmu/out/arming_check_request data writer, topic id: 16
INFO  [uxrce_dds_client] successfully created rt/fmu/out/mode_completed data writer, topic id: 155
INFO  [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19
INFO  [uxrce_dds_client] successfully created rt/fmu/out/collision_constraints data writer, topic id: 26
INFO  [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 83
INFO  [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 89
INFO  [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 146
INFO  [uxrce_dds_client] successfully created rt/fmu/out/message_format_response data writer, topic id: 152
INFO  [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 189INFO  [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 222
INFO  [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 245
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_land_detected data writer, topic id: 273
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 260
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 267
INFO  [commander] Armed by external command	
INFO  [tone_alarm] arming warning
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 264
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 268
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 270
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 274
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 279
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status_v1 data writer, topic id: 284
INFO  [uxrce_dds_client] successfully created rt/fmu/out/airspeed_validated_v1 data writer, topic id: 13
INFO  [uxrce_dds_client] successfully created rt/fmu/out/vtol_vehicle_status data writer, topic id: 293
INFO  [uxrce_dds_client] successfully created rt/fmu/out/home_position data writer, topic id: 126

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Ok, I fixed it. I upgraded PX4 Autopilot to version 1.16, and the message format changed. As a result, XRCE creates versioned copies of topics when the received data format differs from the expected one. To resolve this, I synchronized the versions of px4_msgs and PX4 Autopilot and rebuilt the entire workspace.

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