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PX4 / micrortps_agent

microRTPS agent side of the microRTPS bridge. Used to interface PX4 with the DDS world through FastRTPS/FastDDS.
BSD 3-Clause "New" or "Revised" License
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Micrortps_agent not forwarding messages to DDS (Ubuntu 22.04 + ROS2 Humble) #2

Closed tank104 closed 2 years ago

tank104 commented 2 years ago

Hi, I have just setup a new environment and am not seeing any messages published to the /fmu/sensor_combined/out (or using “ros2 launch px4_ros_com sensor_combined_listener.launch.py”).

PX4 with RTPS runs fine and launches the micrortps_client (“make px4_sitl_rtps gazebo”)

The micrortps agent is definitely receving messages (I confirmed by running before and after launch px4 above, and messages received in the 1000s only after running) “micrortps_agent -t UDP”

If I publish a message manually in ros2 then I see it in the listener: “ros2 topic pub /fmu/sensor_combined/out px4_msgs/msg/SensorCombined”

So it seems to me the issue is with the micrortps agent - but I don’t know what to check.

I didn’t have this issue in Ubuntu 20.04 + ROS2 Galactic - but that might be a red herring - since its a new install now.

Other (perhaps) useful info: When micrortps agent is running I can see publisher:

~$ ros2 topic info /fmu/sensor_combined/out Type: px4_msgs::msg::SensorCombined Publisher count: 1 Subscription count: 0

But when I echo it I get this error ~$ ros2 topic echo /fmu/sensor_combined/out The message type ‘px4_msgs::msg::SensorCombined’ is invalid

Is somehow the micrortps agent sending invalid messages?

tank104 commented 2 years ago

Closing this issue s not relate to micrortps directly.