ETH port normal operation error with MicroRTPS on Pixhawk 6X

[kh-0306]

Hi, I'm using Pixhawk 6x

I want to communicate with Pixhawk 6X and Jetson NX via ros2-based microRTPS. So, modifying the latest stable v1.13.0 source code.

Using the code of the path below, I created a build command that allows rtps to be used in 6X. (boards\px4\fmu-v5x\rtps.px4board)

I checked that the build is not working due to the memory overflow problem. So, memory overflow was resolved by deleting other unused modules and MicroDDS = n.

Although ros2 communication was successful through the ETH port between NX and 6X, a recent rebuild found a problem with the ETH port not working properly.

Has anyone experienced Lan port of 5X or 6X not working properly like me? Please give us your opinion

Also, I wonder if the build command related to microRTPS of 6X will be officially supported in stable v1.13.1

[maxpolzin]

Dear @kh-0306 ,

Did you manage to get your Pixhawk 6X working with microRTPS or micro-xrce-dds? Did you try connecting to it via USB? Which unused models did you delete to fit the firmware with micrortps on the board?

[andrejpadilha2]

I am also wondering if the next release will support microRTPS with the 6X.

[kh-0306]

Dear @maxpolzin

I'm sorry for the late reply

Success was achieved by connecting to ETH between Fixhawk 6x and NX and running ros2-based microDDS. However, it seems that the data is not coming out of the eth port of 6x while modifying the firmware additionally.

And deleted modules are like px4flow

[kh-0306]

Dear @andrejpadilha2

I also hope that RTPS firmware will be provided in 6x from the next stable version of 1.13.1.

[benberry3d]

Does this commit addresses the issue (it's added to default for the 6x): https://github.com/PX4/PX4-Autopilot/commit/cea185268e133ad22418fb9990f9c19df6e30681