ROS2 micrortps_client 'Unexpected Topic ID'

asked 2021-02-28 16:29:42 -0500

jmalbert97 gravatar image

I am trying to get a simple offboard control to work, as described here:

When I start the agent on a companion computer (Odroid XU4) and client on the PixHawk4, the connection is established as expected. When i run sensor_combined_listener, i have no issues, so I know the connection is established. However, when I attempt to run the offboard_control, i receive a message from the client flight controller :

WARN [micrortps_client] Unexpected topic ID

I have checked both the yaml file on the companion computer in px4_ros_com/src/px4_ros_com/templates/uorb_rtps_message_ids.yaml, as well as X4-Autopilot/msg/tools/uorb_rtps_message_ids.yaml, and both show the required fields as 'receive: true' for offboard_control_mode and position_setpoint_triplet.

Any ideas why I may be getting this unexpected topic ID error? Here is the output from the agent, showing that the topics have been matched:

----   Publishers  ----
- InputRc publisher started
- SatelliteInfo publisher started
- SensorCombined publisher started
- Timesync publisher started
- VehicleControlMode publisher started
- VehicleOdometry publisher started

- CollisionConstraints publisher started
[   micrortps_agent   ] OffboardControlMode subscriber matched
[   micrortps_agent   ] PositionSetpointTriplet subscriber matched
[   micrortps_agent   ] VehicleCommand subscriber matched
[   micrortps_agent   ] Timesync publisher matched

here is the output from the other terminal, showing the offboard_control file stuck at arming (this is when i get the error on the client, saying unexpected topic ID)

odroid@odroid:~/px4_ros_com_ros2/build/px4_ros_com$ ros2 run px4_ros_com offboard_control
Starting offboard control node...
[INFO] [offboard_control]: Arm command send
edit retag flag offensive close merge delete


Sorry, I don't have an answer for you. Just a note, that I do not have the files you mentioned. I built my simulation (Ubuntu 20.04 LTS ) environment and production environment (Raspberry Pi 4, Ubutu 20.04 LTS) on 22 August 2021 and have the following file ~/px4_ros_com_ros2/src/px4_ros_com/templates/urtps_bridge_topics.yaml I do have ~/PX4-Autopilot/msg/tools/uorb_rtps_message_ids.yaml which contains very much the same info.

Your note here did help me find this file, which is priceless for my current project. Thank you!

Slaghuis gravatar image Slaghuis  ( 2021-08-24 00:55:15 -0500 )edit