fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity
PX4-Autopilot/docs/en/middleware/dds_topics.md
PX4BuildBot c7aa01bc80 docs: auto-sync metadata [skip ci] 
Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-03-24 15:31:21 +00:00

22 KiB
Raw Blame History

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 Type 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 Type
/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 Type 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