PX4-Autopilot/docs/uk/middleware/dds_topics.md

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	Тип	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/vehicle_land_detected	px4_msgs::msg::VehicleLandDetected	5.0
/fmu/out/vehicle_attitude	px4_msgs::msg::VehicleAttitude
/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
/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

Subscriptions

Topic	Тип
/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/aux_global_position	px4_msgs::msg::VehicleGlobalPosition
/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

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
• ActuatorOutputs
• FixedWingRunwayControl
• EstimatorInnovations
• FlightPhaseEstimation
• PurePursuitStatus
• Px4ioStatus
• SatelliteInfo
• GeofenceResult
• GimbalManagerStatus
• ManualControlSwitches
• OpenDroneIdSelfId
• OpenDroneIdSystem
• EventV0
• QshellRetval
• RoverThrottleSetpoint
• AirspeedValidatedV0
• RcChannels
• SensorAccel
• GimbalDeviceAttitudeStatus
• EscStatus
• RoverAttitudeSetpoint
• RateCtrlStatus
• AirspeedWind
• InputRc
• GpioIn
• LaunchDetectionStatus
• VehicleImu
• Event
• SensorUwb
• ActuatorServosTrim
• DatamanResponse
• OrbTest
• VehicleLocalPositionSetpoint
• VehicleAngularVelocity
• FollowTargetStatus
• NormalizedUnsignedSetpoint
• YawEstimatorStatus
• TakeoffStatus
• UlogStreamAck
• OrbTestLarge
• RoverSteeringSetpoint
• CameraCapture
• VehicleRoi
• ActuatorArmed
• FixedWingLateralGuidanceStatus
• ParameterSetValueResponse
• GeofenceStatus
• VehicleAngularAccelerationSetpoint
• SensorGnssRelative
• PowerMonitor
• RoverVelocityStatus
• ParameterResetRequest
• RoverAttitudeStatus
• TecsStatus
• EstimatorSelectorStatus
• CanInterfaceStatus
• Ping
• LedControl
• Wind
• VehicleStatusV0
• ActuatorTest
• IridiumsbdStatus
• FailureDetectorStatus
• GimbalManagerSetAttitude
• Gripper
• SensorMag
• DebugValue
• SensorPreflightMag
• RcParameterMap
• LandingGear
• GimbalDeviceInformation
• VehicleOpticalFlow
• UlogStream
• GimbalControls
• RoverRateSetpoint
• LogMessage
• RoverVelocitySetpoint
• GpioOut
• TaskStackInfo
• VelocityLimits
• MagWorkerData
• ParameterUpdate
• TrajectorySetpoint6dof
• SensorBaro
• VehicleImuStatus
• InternalCombustionEngineStatus
• VehicleOpticalFlowVel
• GimbalManagerSetManualControl
• Rpm
• MagnetometerBiasEstimate
• MountOrientation
• ActionRequest
• OpenDroneIdArmStatus
• SensorAccelFifo
• LoggerStatus
• GeneratorStatus
• InternalCombustionEngineControl
• Ekf2Timestamps
• LandingTargetPose
• PositionControllerLandingStatus
• UavcanParameterValue
• OrbitStatus
• PositionControllerStatus
• EstimatorStatus
• DatamanRequest
• HoverThrustEstimate
• FixedWingLateralStatus
• NavigatorMissionItem
• Cpuload
• EstimatorAidSource3d
• RoverRateStatus
• EscReport
• DebugArray
• ControlAllocatorStatus
• SensorHygrometer
• EstimatorSensorBias
• EstimatorBias3d
• GimbalManagerInformation
• QshellReq
• CameraStatus
• GpsInjectData
• FigureEightStatus
• TransponderReport
• UavcanParameterRequest
• MavlinkLog
• EstimatorGpsStatus
• FuelTankStatus
• Mission
• PositionSetpoint
• MissionResult
• EstimatorEventFlags
• VehicleMagnetometer
• MavlinkTunnel
• DifferentialPressure
• CellularStatus
• GpsDump
• GimbalDeviceSetAttitude
• ArmingCheckReplyV0
• NavigatorStatus
• RoverPositionSetpoint
• FollowTarget
• SensorsStatusImu
• EstimatorStates
• SensorGyro
• SensorAirflow
• ButtonEvent
• DebugKeyValue
• GpioConfig
• CameraTrigger
• LandingGearWheel
• VehicleConstraints
• HealthReport
• PowerButtonState
• RadioStatus
• SensorGyroFifo
• EstimatorBias
• DebugVect
• DistanceSensorModeChangeRequest
• RtlTimeEstimate
• PpsCapture
• SensorSelection
• SystemPower
• ActuatorControlsStatus
• SensorGyroFft
• VehicleAirData
• FollowTargetEstimator
• ParameterSetUsedRequest
• GpioRequest
• OpenDroneIdOperatorId
• RtlStatus
• Airspeed
• VehicleAcceleration
• ParameterSetValueRequest
• IrlockReport
• HeaterStatus
• AdcReport
• PwmInput
• TiltrotorExtraControls
• EstimatorAidSource1d
• OrbTestMedium
• VehicleAttitudeSetpointV0
• EstimatorAidSource2d
• TuneControl
• WheelEncoders
• AutotuneAttitudeControlStatus
• LandingTargetInnovations
• SensorsStatus

:::