[Bug] Pixhawk v6c uXRCE-DDS-Client (PX4-ROS 2/DDS Bridge) don't connect with uXRCE Agent using serial port and ROS2 tutorial

[tuananh0606-tech]

Describe the bug

I i got the same error as #21393 but using uXRCE-DDS (PX4-ROS 2/DDS Bridge), , i tried to fix it but it didn't work

To Reproduce

1. This is my pixhawk 6c version
   
2. Installed UXRCE_DDS_CFG to telem2

3. I have set the parameters according to the path
   https://docs.px4.io/main/en/peripherals/mavlink_peripherals.html

4. I also installed PX4-Autopilot version 1.15.2, installed additional firmware make px4_fmu-v6c_default and double checked the pixhawk 6c version in Nutx

Expected behavior

I want the output to be the same as when connected to jmavsim simulation

Screenshot / Media

but the result I got was not like that

and when restarting NuttX uxrce_dds_client is no longer running

Flight Log

No response

Software Version

No response

Flight controller

No response

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

[beniaminopozzan]

Hi @tuananh0606-tech , could you share your entire parameter list please?

[tuananh0606-tech]

Hi @beniaminopozzan, I have set the parameters like that

[tuananh0606-tech]

Hi @beniaminopozzan , sorry sir. I just pressed close by mistake. Can you help me, please?

[tuananh0606-tech]

@beniaminopozzan I switched to telem3 it works like that, but there is no publisher, when I tried to switch back to telem2 it still can't run.

[1740531532.837554] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1740531532.837720] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1740531539.719673] info     | Root.cpp           | create_client            | create                 | client_key: 0x00000001, session_id: 0x81
[1740531539.719772] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x00000001, address: 1
[1740531540.007395] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x00000001, participant_id: 0x001(1)
[1740531540.274864] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x800(2), participant_id: 0x001(1)
[1740531540.275224] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x800(4), participant_id: 0x001(1)
[1740531540.277025] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x800(6), subscriber_id: 0x800(4)
[1740531540.506152] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x801(2), participant_id: 0x001(1)
[1740531540.506285] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x801(4), participant_id: 0x001(1)
[1740531540.506990] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x801(6), subscriber_id: 0x801(4)
[1740531540.754290] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x802(2), participant_id: 0x001(1)
[1740531540.754400] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x802(4), participant_id: 0x001(1)
[1740531540.755268] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x802(6), subscriber_id: 0x802(4)
[1740531541.185578] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x803(2), participant_id: 0x001(1)
[1740531541.185696] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x803(4), participant_id: 0x001(1)
[1740531541.186456] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x803(6), subscriber_id: 0x803(4)
[1740531541.428461] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x804(2), participant_id: 0x001(1)
[1740531541.428603] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x804(4), participant_id: 0x001(1)
[1740531541.429367] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x804(6), subscriber_id: 0x804(4)
[1740531541.651400] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x805(2), participant_id: 0x001(1)
[1740531541.651542] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x805(4), participant_id: 0x001(1)
[1740531541.652262] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x805(6), subscriber_id: 0x805(4)
[1740531541.886531] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x806(2), participant_id: 0x001(1)
[1740531541.886647] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x806(4), participant_id: 0x001(1)
[1740531541.887380] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x806(6), subscriber_id: 0x806(4)
[1740531542.153602] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x807(2), participant_id: 0x001(1)
[1740531542.153717] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x807(4), participant_id: 0x001(1)
[1740531542.154417] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x807(6), subscriber_id: 0x807(4)
[1740531542.395934] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x808(2), participant_id: 0x001(1)
[1740531542.396073] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x808(4), participant_id: 0x001(1)
[1740531542.396767] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x808(6), subscriber_id: 0x808(4)
[1740531542.694715] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x809(2), participant_id: 0x001(1)
[1740531542.694898] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x809(4), participant_id: 0x001(1)
[1740531542.695604] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x809(6), subscriber_id: 0x809(4)
[1740531542.846948] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80A(2), participant_id: 0x001(1)
[1740531542.847069] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80A(4), participant_id: 0x001(1)
[1740531542.847785] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80A(6), subscriber_id: 0x80A(4)
[1740531543.055778] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80B(2), participant_id: 0x001(1)
[1740531543.055927] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80B(4), participant_id: 0x001(1)
[1740531543.056578] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80B(6), subscriber_id: 0x80B(4)
[1740531543.263946] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80C(2), participant_id: 0x001(1)
[1740531543.264113] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80C(4), participant_id: 0x001(1)
[1740531543.264932] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80C(6), subscriber_id: 0x80C(4)
[1740531543.532648] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80D(2), participant_id: 0x001(1)
[1740531543.532709] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80D(4), participant_id: 0x001(1)
[1740531543.532971] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80D(6), subscriber_id: 0x80D(4)
[1740531543.814130] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80E(2), participant_id: 0x001(1)
[1740531543.814224] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80E(4), participant_id: 0x001(1)
[1740531543.814746] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80E(6), subscriber_id: 0x80E(4)
[1740531544.051947] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80F(2), participant_id: 0x001(1)
[1740531544.051991] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80F(4), participant_id: 0x001(1)
[1740531544.052194] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80F(6), subscriber_id: 0x80F(4)
[1740531544.420463] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x810(2), participant_id: 0x001(1)
[1740531544.420597] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x810(4), participant_id: 0x001(1)
[1740531544.421356] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x810(6), subscriber_id: 0x810(4)
[1740531544.657424] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x811(2), participant_id: 0x001(1)
[1740531544.657579] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x811(4), participant_id: 0x001(1)
[1740531544.658333] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x811(6), subscriber_id: 0x811(4)
[1740531544.924993] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x812(2), participant_id: 0x001(1)
[1740531544.925113] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x812(4), participant_id: 0x001(1)
[1740531544.925849] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x812(6), subscriber_id: 0x812(4)
[1740531545.180036] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x813(2), participant_id: 0x001(1)
[1740531545.180180] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x813(4), participant_id: 0x001(1)
[1740531545.180948] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x813(6), subscriber_id: 0x813(4)
[1740531545.357615] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x814(2), participant_id: 0x001(1)
[1740531545.357740] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x814(4), participant_id: 0x001(1)
[1740531545.358521] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x814(6), subscriber_id: 0x814(4)
[1740531545.582040] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x815(2), participant_id: 0x001(1)
[1740531545.582166] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x815(4), participant_id: 0x001(1)
[1740531545.582936] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x815(6), subscriber_id: 0x815(4)
[1740531545.817085] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x816(2), participant_id: 0x001(1)
[1740531545.817218] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x816(4), participant_id: 0x001(1)
[1740531545.818022] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x816(6), subscriber_id: 0x816(4)
[1740531546.051882] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x817(2), participant_id: 0x001(1)
[1740531546.052012] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x817(4), participant_id: 0x001(1)
[1740531546.052743] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x817(6), subscriber_id: 0x817(4)
[1740531546.318598] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x818(2), participant_id: 0x001(1)
[1740531546.318666] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x818(4), participant_id: 0x001(1)
[1740531546.318880] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x818(6), subscriber_id: 0x818(4)
[1740531546.604376] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x819(2), participant_id: 0x001(1)
[1740531546.604504] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x819(4), participant_id: 0x001(1)
[1740531546.605345] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x819(6), subscriber_id: 0x819(4)
[1740531546.791217] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x81A(2), participant_id: 0x001(1)
[1740531546.791363] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x81A(4), participant_id: 0x001(1)
[1740531546.792085] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x81A(6), subscriber_id: 0x81A(4)
[1740531547.202334] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x81B(2), participant_id: 0x001(1)
[1740531547.202501] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x81B(4), participant_id: 0x001(1)
[1740531547.203293] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x81B(6), subscriber_id: 0x81B(4)
[1740531547.440428] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x81C(2), participant_id: 0x001(1)
[1740531547.440567] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x81C(4), participant_id: 0x001(1)
[1740531547.441376] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x81C(6), subscriber_id: 0x81C(4)
[1740531547.675540] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x00000001, requester_id: 0x800(7), participant_id: 0x001(1)

[tuananh0606-tech]

I tried searching for the topic but couldn't find it.

[tassalor1]

@tuananh0606-tech did you fix this?

If you want to use UXRCE on telem 2 you need to close all mavlink params on telem2 you cant have both

follow this

https://docs.px4.io/main/en/middleware/uxrce_dds.html#foxy

I also have issues getting uxrce working with pixhawk to nano

[tuananh0606-tech]

@tassalor1 I disabled telem2 as instructed and uxrce dds client worked but when I ros2 topic list still no topic shows up

[YHuniv]

I am facing the same problem.
The client is running, but not connected !!

uxrce_dds_client start -t serial -d /dev/ttyS4 -b 921600 ERROR [uxrce_dds_client] Task already running nsh> uxrce_dds_client status INFO [uxrce_dds_client] Running, disconnected INFO [uxrce_dds_client] Using transport: serial INFO [uxrce_dds_client] timesync converged: false uxrce_dds_client: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uxrce_dds_client: cycle interval: 0 events, 0.00us avg, min 0us max 0us 0.000us rms

[beniaminopozzan]

@tuananh0606-tech
you need to provide way more infos:

• what companion computer are you using
• what OS are you using on the companion computer
• which ROS 2 version
• how did you install the agent
• which version of the agent did you install

[YHuniv15]

I hope you don’t mind me jumping in—I’m in the same situation and figured I’d share my setup instead of opening a new issue.

Companion computer: PC Asus (RTX2070)
OS: Ubuntu 22.04
ROS 2 version: Humble
Agent installation: Followed the instructions from PX4’s ROS 2 user guide
Agent version: 2.4.2
For reference, simulation with Gazebo is working fine on my end

[YHuniv15]

To complete, I am not sur but maybe the probleme comes from my
Holybro SiK Telemetry Radio V3 connected to Telem2 of my Pixhawk 6X.

In the specification, i saw :
-Transparent serial link
-MAVLink protocol framing maybe uXRCE protocol not supported ?

[tuananh0606-tech]

@beniaminopozzan
I'm using:

1. Companion computer:
   Device name DESKTOP-ST1PRMH
   Processor Intel(R) Core(TM) i7-10750H CPU @ 2.60GHz 2.59 GHz
   Installed RAM 32.0 GB (31.8 GB usable)
   Device ID 138FBECB-EE4F-4B21-A08D-C2D469D6A262
   Product ID 00327-35933-06611-AAOEM
   System type 64-bit operating system, x64-based processor
   GPU: RTX2070 Ti

2. OS: Ubuntu 22.04 Linux

3. ROS2: Humble

4. Agent installation: Followed the instructions from PX4’s ROS 2 user guide

5. Agent version: 2.4.2
   6.PX4 firmware version: 1.15.2

I also tried to install other version for Agent (v2.4.2, v3.0.0) and PX4 firmware (v1.14.2, v1.14.4, v1.15.2, v1.15.4) but it's even not running