I cannot run Micro XRCE-DDS on ArduPilot Pixhawk1 and Raspberry Pi 4B (ROS 2 Humble)

General
1

Hello. Can someone please help me with this? There is no DDS_ENABLE option in full params of the Mission Planner. Thank you.

2

Try the Custom Build Server like this (for Copter):

Build server
Build server960×347 88.3 KB

3

I tested a Copter vehicle with the Latest (ArduPilot) version on a Pixhawk1 board and attempted to enable DDS. After flashing the firmware, I still cannot see the DDS_ENABLE parameter, and the Raspberry Pi is unable to communicate with the Pixhawk via DDS.

4

I don’t know why. I built a version for a junk Pixhawk1-1M and it worked.

DDS
DDS768×240 62.3 KB

5

Did you use the custom firmware builder as suggested?

6

Yes, I used the Custom Firmware Builder with the following configuration:

Vehicle: Copter
Version: Latest (ArduPilot)
Board: Pixhawk1

I also enabled the DDS option before generating the build. Afterward, I flashed the firmware to the Pixhawk using Mission Planner. However, I still cannot find the DDS_ENABLE parameter in the full parameter list within Mission Planner.

7

In the Custom Firmware Builder, did you select Copter as the vehicle type? Which firmware version did you use? That might work on my end as well. Thank you.

8

Not recommended to use “latest” unless absolutely necessary.

Look for my recent Copter build against hash 6141ddf9. Works on my junk drawer board.

9

Hello. Can you share the .apj file? I cannot see the V4.8.0 on Custom Firmware Builder. Thank you.

10

Hello. Can you please show me how did you do it? Thank you very much for the help.

11

Update: I was able to enable DDS using Mission Planner. However, my Raspberry Pi is still unable to communicate with the Pixhawk via DDS, as I’m not seeing any ROS 2 topics.

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image654×191 21.8 KB

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