uORB Publication/Subscription Graph

This page provides a uORB publication/subscription graph that shows the communication between modules. It is based on information that is extracted directly from the source code. Usage instructions are provided below.

Search: Preset: All Modules (w/o mavlink) All Modules SITL Modules FMUv5 Modules FMUv4 Modules FMUv2 Modules

Graph Properties

The graph has the following properties:

• Modules are shown in gray with rounded corners while topics are displayed as coloured rectangular boxes.
• Associated modules and topics are connected by lines. Dashed lines indicate that the module publishes the topic, solid lines indicate that the module subscribes to the topic, while dot-dashed lines indicate that the module both publishes and subscribes to the topic.
• Some modules and topics are excluded:
  • Topics that are subscribed/published by many modules: parameter_update, mavlink_log and log_message.
  • The set of logged topics.
  • Topics that have no subscriber or no publisher.
  • Modules in src/examples.
• Hovering over a module/topic highlights all its connections.
• Double-clicking on a topic opens its message definition.
• Make sure your browser window is wide enough to display the full graph (the sidebar menu can be hidden with the icon in the top-left corner). You can also zoom the image.
• The Preset selection list allows you to refine the list of modules that are shown.
• The Search box can be used to find particular modules/topics (topics that are not selected by the search are greyed-out).