dds_topics.yaml — PX4 Topics Exposed to ROS 2

INFO

This document is auto-generated from the source code.

The dds_topics.yaml file specifies which uORB message definitions are compiled into the uxrce_dds_client module when PX4 is built, and hence which topics are available for ROS 2 applications to subscribe or publish (by default).

This document shows a markdown-rendered version of dds_topics.yaml, listing the publications, subscriptions, and so on.

Publications

Topic	형식	Rate Limit
/fmu/out/register_ext_component_reply	px4_msgs::msg::RegisterExtComponentReply
/fmu/out/arming_check_request	px4_msgs::msg::ArmingCheckRequest	5.0
/fmu/out/mode_completed	px4_msgs::msg::ModeCompleted	50.0
/fmu/out/battery_status	px4_msgs::msg::BatteryStatus	1.0
/fmu/out/collision_constraints	px4_msgs::msg::CollisionConstraints	50.0
/fmu/out/estimator_status_flags	px4_msgs::msg::EstimatorStatusFlags	5.0
/fmu/out/failsafe_flags	px4_msgs::msg::FailsafeFlags	5.0
/fmu/out/manual_control_setpoint	px4_msgs::msg::ManualControlSetpoint	25.0
/fmu/out/message_format_response	px4_msgs::msg::MessageFormatResponse
/fmu/out/position_setpoint_triplet	px4_msgs::msg::PositionSetpointTriplet	5.0
/fmu/out/sensor_combined	px4_msgs::msg::SensorCombined
/fmu/out/timesync_status	px4_msgs::msg::TimesyncStatus	10.0
/fmu/out/transponder_report	px4_msgs::msg::TransponderReport
/fmu/out/vehicle_land_detected	px4_msgs::msg::VehicleLandDetected	5.0
/fmu/out/vehicle_attitude	px4_msgs::msg::VehicleAttitude	50.0
/fmu/out/vehicle_control_mode	px4_msgs::msg::VehicleControlMode	50.0
/fmu/out/vehicle_command_ack	px4_msgs::msg::VehicleCommandAck
/fmu/out/vehicle_global_position	px4_msgs::msg::VehicleGlobalPosition	50.0
/fmu/out/vehicle_gps_position	px4_msgs::msg::SensorGps	50.0
/fmu/out/vehicle_local_position	px4_msgs::msg::VehicleLocalPosition	50.0
/fmu/out/vehicle_odometry	px4_msgs::msg::VehicleOdometry	100.0
/fmu/out/vehicle_status	px4_msgs::msg::VehicleStatus	5.0
/fmu/out/airspeed_validated	px4_msgs::msg::AirspeedValidated	50.0
/fmu/out/vtol_vehicle_status	px4_msgs::msg::VtolVehicleStatus
/fmu/out/home_position	px4_msgs::msg::HomePosition	5.0
/fmu/out/wind	px4_msgs::msg::Wind	1.0
/fmu/out/gimbal_device_attitude_status	px4_msgs::msg::GimbalDeviceAttitudeStatus	20.0

Subscriptions

Topic	형식
/fmu/in/register_ext_component_request	px4_msgs::msg::RegisterExtComponentRequest
/fmu/in/unregister_ext_component	px4_msgs::msg::UnregisterExtComponent
/fmu/in/config_overrides_request	px4_msgs::msg::ConfigOverrides
/fmu/in/arming_check_reply	px4_msgs::msg::ArmingCheckReply
/fmu/in/message_format_request	px4_msgs::msg::MessageFormatRequest
/fmu/in/mode_completed	px4_msgs::msg::ModeCompleted
/fmu/in/config_control_setpoints	px4_msgs::msg::VehicleControlMode
/fmu/in/distance_sensor	px4_msgs::msg::DistanceSensor
/fmu/in/manual_control_input	px4_msgs::msg::ManualControlSetpoint
/fmu/in/offboard_control_mode	px4_msgs::msg::OffboardControlMode
/fmu/in/onboard_computer_status	px4_msgs::msg::OnboardComputerStatus
/fmu/in/obstacle_distance	px4_msgs::msg::ObstacleDistance
/fmu/in/sensor_optical_flow	px4_msgs::msg::SensorOpticalFlow
/fmu/in/goto_setpoint	px4_msgs::msg::GotoSetpoint
/fmu/in/telemetry_status	px4_msgs::msg::TelemetryStatus
/fmu/in/trajectory_setpoint	px4_msgs::msg::TrajectorySetpoint
/fmu/in/vehicle_attitude_setpoint	px4_msgs::msg::VehicleAttitudeSetpoint
/fmu/in/vehicle_mocap_odometry	px4_msgs::msg::VehicleOdometry
/fmu/in/vehicle_rates_setpoint	px4_msgs::msg::VehicleRatesSetpoint
/fmu/in/vehicle_visual_odometry	px4_msgs::msg::VehicleOdometry
/fmu/in/vehicle_command	px4_msgs::msg::VehicleCommand
/fmu/in/vehicle_command_mode_executor	px4_msgs::msg::VehicleCommand
/fmu/in/vehicle_thrust_setpoint	px4_msgs::msg::VehicleThrustSetpoint
/fmu/in/vehicle_torque_setpoint	px4_msgs::msg::VehicleTorqueSetpoint
/fmu/in/actuator_motors	px4_msgs::msg::ActuatorMotors
/fmu/in/actuator_servos	px4_msgs::msg::ActuatorServos
/fmu/in/fixed_wing_longitudinal_setpoint	px4_msgs::msg::FixedWingLongitudinalSetpoint
/fmu/in/fixed_wing_lateral_setpoint	px4_msgs::msg::FixedWingLateralSetpoint
/fmu/in/longitudinal_control_configuration	px4_msgs::msg::LongitudinalControlConfiguration
/fmu/in/lateral_control_configuration	px4_msgs::msg::LateralControlConfiguration
/fmu/in/rover_position_setpoint	px4_msgs::msg::RoverPositionSetpoint
/fmu/in/rover_speed_setpoint	px4_msgs::msg::RoverSpeedSetpoint
/fmu/in/rover_attitude_setpoint	px4_msgs::msg::RoverAttitudeSetpoint
/fmu/in/rover_rate_setpoint	px4_msgs::msg::RoverRateSetpoint
/fmu/in/rover_throttle_setpoint	px4_msgs::msg::RoverThrottleSetpoint
/fmu/in/rover_steering_setpoint	px4_msgs::msg::RoverSteeringSetpoint
/fmu/in/landing_gear	px4_msgs::msg::LandingGear

Subscriptions Multi

Topic	형식	Route Field	Max Instances
/fmu/in/aux_global_position	px4_msgs::msg::AuxGlobalPosition	id	4

Not Exported

These messages are not listed in the yaml file. They are not build into the module, and hence are neither published or subscribed.

Details

See messages

• EventV0
• EstimatorAidSource1d
• ParameterSetValueRequest
• UlogStreamAck
• VehicleLocalPositionSetpoint
• GimbalDeviceInformation
• PositionSetpoint
• ParameterResetRequest
• GimbalControls
• SystemPower
• VehicleImuStatus
• EscReport
• IrlockReport
• VehicleLocalPositionV0
• GpioConfig
• SensorPreflightMag
• GpioRequest
• EstimatorBias3d
• ParameterUpdate
• ArmingCheckReplyV0
• TrajectorySetpoint6dof
• MissionResult
• GeofenceResult
• OrbTestLarge
• LandingGearWheel
• MavlinkLog
• DebugValue
• PwmInput
• YawEstimatorStatus
• RegisterExtComponentReplyV0
• PowerButtonState
• VehicleGlobalPositionV0
• ControlAllocatorStatus
• RtlTimeEstimate
• VehicleRoi
• SensorHygrometer
• WheelEncoders
• UlogStream
• ActuatorControlsStatus
• ButtonEvent
• RoverRateStatus
• ConfigOverridesV0
• DronecanNodeStatus
• EstimatorInnovations
• NavigatorStatus
• GainCompression
• PositionControllerLandingStatus
• RcParameterMap
• DeviceInformation
• Rpm
• NeuralControl
• Event
• AirspeedValidatedV0
• PpsCapture
• FollowTarget
• EstimatorGpsStatus
• VehicleOpticalFlow
• TaskStackInfo
• CameraTrigger
• Airspeed
• DistanceSensorModeChangeRequest
• FlightPhaseEstimation
• ActuatorTest
• GimbalManagerSetManualControl
• CanInterfaceStatus
• LedControl
• ManualControlSwitches
• SensorGnssStatus
• FailureDetectorStatus
• MagWorkerData
• Px4ioStatus
• GimbalManagerSetAttitude
• DebugKeyValue
• DebugVect
• OpenDroneIdArmStatus
• CellularStatus
• FollowTargetEstimator
• QshellRetval
• FixedWingRunwayControl
• SensorBaro
• DatamanResponse
• OrbTestMedium
• ParameterSetUsedRequest
• OpenDroneIdSystem
• GpsInjectData
• SensorGnssRelative
• SensorUwb
• CameraCapture
• AutotuneAttitudeControlStatus
• DatamanRequest
• GpioIn
• Ekf2Timestamps
• Mission
• GimbalDeviceSetAttitude
• VehicleAttitudeSetpointV0
• DebugArray
• GeneratorStatus
• RoverAttitudeStatus
• SensorGyro
• InputRc
• AirspeedWind
• LandingTargetPose
• OrbitStatus
• Vtx
• LoggerStatus
• RateCtrlStatus
• GeofenceStatus
• Gripper
• InternalCombustionEngineControl
• PurePursuitStatus
• RegisterExtComponentRequestV0
• VehicleStatusV0
• EstimatorStatus
• RaptorInput
• GpioOut
• CameraStatus
• VehicleAngularVelocity
• VehicleAngularAccelerationSetpoint
• LogMessage
• BatteryStatusV0
• RaptorStatus
• SensorCorrection
• LandingTargetInnovations
• LaunchDetectionStatus
• OrbTest
• SensorGyroFft
• PowerMonitor
• VehicleConstraints
• VehicleStatusV1
• SensorAirflow
• TecsStatus
• EstimatorBias
• SensorMag
• GimbalManagerInformation
• UavcanParameterRequest
• EstimatorSensorBias
• ActuatorArmed
• ActionRequest
• RoverSpeedStatus
• MountOrientation
• SensorAccelFifo
• QshellReq
• FixedWingLateralGuidanceStatus
• NavigatorMissionItem
• TiltrotorExtraControls
• EscStatus
• OpenDroneIdOperatorId
• Cpuload
• SensorsStatusImu
• NormalizedUnsignedSetpoint
• OpenDroneIdSelfId
• DifferentialPressure
• InternalCombustionEngineStatus
• MavlinkTunnel
• SensorsStatus
• HoverThrustEstimate
• SensorAccel
• FollowTargetStatus
• HomePositionV0
• UavcanParameterValue
• FigureEightStatus
• VehicleOpticalFlowVel
• HealthReport
• EstimatorSelectorStatus
• ArmingCheckRequestV0
• SensorSelection
• VehicleMagnetometer
• FuelTankStatus
• RtlStatus
• VehicleAcceleration
• BatteryInfo
• MagnetometerBiasEstimate
• AdcReport
• FixedWingLateralStatus
• TakeoffStatus
• ActuatorServosTrim
• VehicleImu
• ActuatorOutputs
• HeaterStatus
• ParameterSetValueResponse
• TuneControl
• PositionControllerStatus
• SensorGyroFifo
• VehicleAirData
• RadioStatus
• EstimatorAidSource2d
• VelocityLimits
• EstimatorEventFlags
• EstimatorStates
• Ping
• EstimatorAidSource3d
• VehicleCommandAckV0
• GpsDump
• SensorTemp
• RcChannels
• IridiumsbdStatus
• SatelliteInfo
• GimbalManagerStatus