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	类型	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	类型
/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	类型	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

• CameraStatus
• PowerMonitor
• EventV0
• PowerButtonState
• RoverSpeedStatus
• IridiumsbdStatus
• SatelliteInfo
• UavcanParameterValue
• HealthReport
• VteAidSource1d
• EscEepromWrite
• GainCompression
• NavigatorStatus
• Cpuload
• OpenDroneIdSystem
• DeviceInformation
• EstimatorSelectorStatus
• BatteryInfo
• MavlinkLog
• GpioRequest
• IrlockReport
• SensorGnssRelative
• VtePosition
• CanInterfaceStatus
• RtlTimeEstimate
• ManualControlSwitches
• UavcanParameterRequest
• DebugValue
• VehicleOpticalFlowVel
• AdcReport
• Px4ioStatus
• FigureEightStatus
• AutotuneAttitudeControlStatus
• ParameterSetValueRequest
• VteBiasInitStatus
• DatamanRequest
• DifferentialPressure
• RoverAttitudeStatus
• BatteryStatusV0
• VehicleImu
• ArmingCheckRequestV0
• EstimatorAidSource3d
• EstimatorBias3d
• VehicleImuStatus
• SensorsStatus
• ActionRequest
• ActuatorArmed
• OpenDroneIdOperatorId
• WheelEncoders
• SensorAirflow
• ActuatorServosTrim
• UlogStream
• ButtonEvent
• RadioStatus
• ParameterSetUsedRequest
• GpioConfig
• PositionSetpoint
• FollowTargetStatus
• SensorCorrection
• FiducialMarkerYawReport
• DebugArray
• HeaterStatus
• LoggerStatus
• PositionControllerStatus
• VehicleAngularVelocity
• Mission
• OrbitStatus
• Event
• DistanceSensorModeChangeRequest
• ActuatorOutputs
• SensorAccelFifo
• RateCtrlStatus
• PositionControllerLandingStatus
• GpsDump
• GimbalDeviceInformation
• SystemPower
• ControlAllocatorStatus
• NavigatorMissionItem
• QshellRetval
• SensorGyro
• InternalCombustionEngineControl
• HomePositionV0
• EscReport
• NormalizedUnsignedSetpoint
• OrbTest
• EstimatorSensorBias
• TrajectorySetpoint6dof
• TuneControl
• VehicleCommandAckV0
• EstimatorStatus
• SensorBaro
• VehicleStatusV2
• SensorGyroFifo
• ParameterResetRequest
• FiducialMarkerPosReport
• GeneratorStatus
• HoverThrustEstimate
• VteAidSource3d
• VelocityLimits
• GeofenceStatus
• SensorPreflightMag
• SensorsStatusImu
• NeuralControl
• RcParameterMap
• MavlinkTunnel
• YawEstimatorStatus
• EstimatorAidSource1d
• LaunchDetectionStatus
• FlightPhaseEstimation
• MissionResult
• TargetGnss
• GimbalManagerStatus
• EstimatorInnovations
• RegisterExtComponentReplyV0
• VehicleStatusV1
• LandingTargetPose
• OpenDroneIdSelfId
• TakeoffStatus
• SensorGnssStatus
• TiltrotorExtraControls
• GpsInjectData
• VteInput
• VehicleRoi
• SensorTemp
• VehicleAirData
• Ekf2Timestamps
• VehicleLocalPositionV0
• EstimatorEventFlags
• GimbalManagerSetAttitude
• PrecLandStatus
• EstimatorFusionControl
• ParameterSetValueResponse
• DebugKeyValue
• FuelTankStatus
• PurePursuitStatus
• CameraTrigger
• TaskStackInfo
• GeofenceResult
• AirspeedWind
• CameraCapture
• OpenDroneIdArmStatus
• ConfigOverridesV0
• VehicleAcceleration
• GimbalDeviceSetAttitude
• QshellReq
• VteOrientation
• GpioOut
• FollowTarget
• CellularStatus
• SensorAccel
• OrbTestLarge
• VehicleStatusV0
• DronecanNodeStatus
• AirspeedValidatedV0
• GimbalManagerSetManualControl
• ActuatorControlsStatus
• FixedWingLateralGuidanceStatus
• VehicleLocalPositionSetpoint
• FailureDetectorStatus
• LandingGearWheel
• UlogStreamAck
• VehicleStatusV3
• SensorSelection
• LogMessage
• RaptorInput
• FixedWingLateralStatus
• EstimatorBias
• VehicleOpticalFlow
• LandingTargetInnovations
• Vtx
• VehicleAttitudeSetpointV0
• Airspeed
• PwmInput
• ArmingCheckReplyV0
• RangingBeacon
• GimbalManagerInformation
• EscStatus
• MagnetometerBiasEstimate
• SensorHygrometer
• GimbalControls
• RegisterExtComponentRequestV1
• RaptorStatus
• DatamanResponse
• LedControl
• RoverRateStatus
• EstimatorStates
• TecsStatus
• DebugVect
• PpsCapture
• RegisterExtComponentRequestV0
• RtlStatus
• GpioIn
• SensorGyroFft
• EstimatorGpsStatus
• RcChannels
• EscEepromRead
• FixedWingRunwayControl
• ParameterUpdate
• InternalCombustionEngineStatus
• Rpm
• ActuatorTest
• VehicleConstraints
• SensorMag
• OrbTestMedium
• Gripper
• InputRc
• FollowTargetEstimator
• MountOrientation
• Ping
• VehicleGlobalPositionV0
• EstimatorAidSource2d
• MagWorkerData
• SensorUwb
• VehicleMagnetometer
• VehicleAngularAccelerationSetpoint