Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-10-02 00:27:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix(uxrce_dds): align SITL namespace prefix (#28338)

Browse Source 
* fix(uxrce_dds): align SITL namespace prefix

Use the same uav_ namespace prefix for SITL multi-instance startup and UXRCE_DDS_NS_IDX fallback. This keeps simulation and hardware topic names consistent without changing the existing hardware default.

Assisted-by: OpenAI Codex: GPT-5

* docs(uxrce): update uxrce_dds docs

* docs(release): update `main` release page

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Ltxx
2026-09-27 00:12:55 +01:00
committed by GitHub
co-authored by Beniamino Pozzan
parent 5ecc673e23
commit d2de298122
3 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/rcS
+2 -2
View File
@@ -297,8 +297,8 @@ navigator start
uxrce_dds_ns=""
if [ "$px4_instance" -ne "0" ]
then
# for multi intances setup, add namespace prefix
uxrce_dds_ns="-n px4_$px4_instance"
# for multi instances setup, add namespace prefix
uxrce_dds_ns="-n uav_$px4_instance"
fi
if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
# Override, as variable is set (empty or not)
docs/en/releases/main.md
+1 -1
View File
@@ -90,7 +90,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### uXRCE-DDS / Zenoh / ROS 2
- TBD
- (uXRCE-DDS): SITL multi vehicle automatic namespace prefix is now `uav_{px4_instance}` and it is aligned with the behaviour of `UXRCE_DDS_NS_IDX`. ([PX4-Autopilot#28338](https://github.com/PX4/PX4-Autopilot/pull/28338))
### MAVLink
docs/en/ros2/multi_vehicle.md
+3 -3
View File
@@ -23,10 +23,10 @@ param set UXRCE_DDS_KEY $((px4_instance+1))
By doing so, `UXRCE_DDS_KEY` will always coincide with [MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID).
:::
Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `px4_$px4_instance` is added:
Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `uav_$px4_instance` is added:
```sh
uxrce_dds_ns="-n px4_$px4_instance"
uxrce_dds_ns="-n uav_$px4_instance"
```
::: info
@@ -42,7 +42,7 @@ The default client configuration in simulation is summarized as follows:
| ------------------ | -------------- | ---------------- | --------------------- |
| not provided | 0 | `px4_instance+1` | none |
| provided | 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
| not provided | >0 | `px4_instance+1` | `px4_${px4_instance}` |
| not provided | >0 | `px4_instance+1` | `uav_${px4_instance}` |
| provided | >0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` |
## Adjusting `VehicleCommand` routing fields