From cd2e9702499aaddaa8906d7a55259215f018a6d7 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Wed, 11 Jun 2025 15:26:09 +1000 Subject: [PATCH] Add dds_topics --- docs/en/middleware/dds_topics.md | 276 +++++++++++++++++++++++++++++++ 1 file changed, 276 insertions(+) create mode 100644 docs/en/middleware/dds_topics.md diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md new file mode 100644 index 0000000000..b174fe7638 --- /dev/null +++ b/docs/en/middleware/dds_topics.md @@ -0,0 +1,276 @@ +# dds_topics.yaml — PX4 Topics Exposed to ROS 2 + +::: info +This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code. +::: + + +The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), 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](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on. + +## Publications + +Topic | Type| Rate Limit +--- | --- | --- +`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | +`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 +`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 +`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 +`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 +`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 +`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 +`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 +`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | +`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 +`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | +`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 +`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 +`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | +`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 +`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | +`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 +`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 +`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 +`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | +`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 +`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 +`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | +`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 + +## Subscriptions + +Topic | Type +--- | --- +/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) +/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) +/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) +/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) +/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) +/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) +/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) +/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) +/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) +/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) +/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) +/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) +/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) +/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) +/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) +/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) +/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) +/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) +/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) +/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) +/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) +/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) +/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) +/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) +/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) +/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) +/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) +/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) +/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) +/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) +/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) + +## Subscriptions Multi + +None + +## 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 + +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [EventV0](../msg_docs/EventV0.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [InputRc](../msg_docs/InputRc.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [Event](../msg_docs/Event.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [Ping](../msg_docs/Ping.md) +- [LedControl](../msg_docs/LedControl.md) +- [Wind](../msg_docs/Wind.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [Gripper](../msg_docs/Gripper.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [LandingGear](../msg_docs/LandingGear.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [Rpm](../msg_docs/Rpm.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [EscReport](../msg_docs/EscReport.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [TransponderReport](../msg_docs/TransponderReport.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [Mission](../msg_docs/Mission.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +:::