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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_replypx4_msgs::msg::RegisterExtComponentReply
/fmu/out/arming_check_requestpx4_msgs::msg::ArmingCheckRequest5.0
/fmu/out/mode_completedpx4_msgs::msg::ModeCompleted50.0
/fmu/out/battery_statuspx4_msgs::msg::BatteryStatus1.0
/fmu/out/collision_constraintspx4_msgs::msg::CollisionConstraints50.0
/fmu/out/estimator_status_flagspx4_msgs::msg::EstimatorStatusFlags5.0
/fmu/out/failsafe_flagspx4_msgs::msg::FailsafeFlags5.0
/fmu/out/manual_control_setpointpx4_msgs::msg::ManualControlSetpoint25.0
/fmu/out/message_format_responsepx4_msgs::msg::MessageFormatResponse
/fmu/out/position_setpoint_tripletpx4_msgs::msg::PositionSetpointTriplet5.0
/fmu/out/sensor_combinedpx4_msgs::msg::SensorCombined
/fmu/out/timesync_statuspx4_msgs::msg::TimesyncStatus10.0
/fmu/out/transponder_reportpx4_msgs::msg::TransponderReport
/fmu/out/vehicle_land_detectedpx4_msgs::msg::VehicleLandDetected5.0
/fmu/out/vehicle_attitudepx4_msgs::msg::VehicleAttitude50.0
/fmu/out/vehicle_control_modepx4_msgs::msg::VehicleControlMode50.0
/fmu/out/vehicle_command_ackpx4_msgs::msg::VehicleCommandAck
/fmu/out/vehicle_global_positionpx4_msgs::msg::VehicleGlobalPosition50.0
/fmu/out/vehicle_gps_positionpx4_msgs::msg::SensorGps50.0
/fmu/out/vehicle_local_positionpx4_msgs::msg::VehicleLocalPosition50.0
/fmu/out/vehicle_odometrypx4_msgs::msg::VehicleOdometry100.0
/fmu/out/vehicle_statuspx4_msgs::msg::VehicleStatus5.0
/fmu/out/airspeed_validatedpx4_msgs::msg::AirspeedValidated50.0
/fmu/out/vtol_vehicle_statuspx4_msgs::msg::VtolVehicleStatus
/fmu/out/home_positionpx4_msgs::msg::HomePosition5.0
/fmu/out/windpx4_msgs::msg::Wind1.0
/fmu/out/gimbal_device_attitude_statuspx4_msgs::msg::GimbalDeviceAttitudeStatus20.0

Subscriptions ​

Topic类型
/fmu/in/register_ext_component_requestpx4_msgs::msg::RegisterExtComponentRequest
/fmu/in/unregister_ext_componentpx4_msgs::msg::UnregisterExtComponent
/fmu/in/config_overrides_requestpx4_msgs::msg::ConfigOverrides
/fmu/in/arming_check_replypx4_msgs::msg::ArmingCheckReply
/fmu/in/message_format_requestpx4_msgs::msg::MessageFormatRequest
/fmu/in/mode_completedpx4_msgs::msg::ModeCompleted
/fmu/in/config_control_setpointspx4_msgs::msg::VehicleControlMode
/fmu/in/distance_sensorpx4_msgs::msg::DistanceSensor
/fmu/in/manual_control_inputpx4_msgs::msg::ManualControlSetpoint
/fmu/in/offboard_control_modepx4_msgs::msg::OffboardControlMode
/fmu/in/onboard_computer_statuspx4_msgs::msg::OnboardComputerStatus
/fmu/in/obstacle_distancepx4_msgs::msg::ObstacleDistance
/fmu/in/sensor_optical_flowpx4_msgs::msg::SensorOpticalFlow
/fmu/in/goto_setpointpx4_msgs::msg::GotoSetpoint
/fmu/in/telemetry_statuspx4_msgs::msg::TelemetryStatus
/fmu/in/trajectory_setpointpx4_msgs::msg::TrajectorySetpoint
/fmu/in/vehicle_attitude_setpointpx4_msgs::msg::VehicleAttitudeSetpoint
/fmu/in/vehicle_mocap_odometrypx4_msgs::msg::VehicleOdometry
/fmu/in/vehicle_rates_setpointpx4_msgs::msg::VehicleRatesSetpoint
/fmu/in/vehicle_visual_odometrypx4_msgs::msg::VehicleOdometry
/fmu/in/vehicle_commandpx4_msgs::msg::VehicleCommand
/fmu/in/vehicle_command_mode_executorpx4_msgs::msg::VehicleCommand
/fmu/in/vehicle_thrust_setpointpx4_msgs::msg::VehicleThrustSetpoint
/fmu/in/vehicle_torque_setpointpx4_msgs::msg::VehicleTorqueSetpoint
/fmu/in/actuator_motorspx4_msgs::msg::ActuatorMotors
/fmu/in/actuator_servospx4_msgs::msg::ActuatorServos
/fmu/in/fixed_wing_longitudinal_setpointpx4_msgs::msg::FixedWingLongitudinalSetpoint
/fmu/in/fixed_wing_lateral_setpointpx4_msgs::msg::FixedWingLateralSetpoint
/fmu/in/longitudinal_control_configurationpx4_msgs::msg::LongitudinalControlConfiguration
/fmu/in/lateral_control_configurationpx4_msgs::msg::LateralControlConfiguration
/fmu/in/rover_position_setpointpx4_msgs::msg::RoverPositionSetpoint
/fmu/in/rover_speed_setpointpx4_msgs::msg::RoverSpeedSetpoint
/fmu/in/rover_attitude_setpointpx4_msgs::msg::RoverAttitudeSetpoint
/fmu/in/rover_rate_setpointpx4_msgs::msg::RoverRateSetpoint
/fmu/in/rover_throttle_setpointpx4_msgs::msg::RoverThrottleSetpoint
/fmu/in/rover_steering_setpointpx4_msgs::msg::RoverSteeringSetpoint
/fmu/in/landing_gearpx4_msgs::msg::LandingGear

Subscriptions Multi ​

Topic类型Route FieldMax Instances
/fmu/in/aux_global_positionpx4_msgs::msg::AuxGlobalPositionid4

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