PX4 DDS Source
Node ID: px4DdsSource · Role: Source · Realtime config: no
Description
Subscribes to PX4 uORB topics via the Micro XRCE-DDS agent. Receives sensor_combined IMU data from a PX4 flight controller over Ethernet or UART. Pairs with the PX4 DDS Sink to integrate FusionHub with a PX4 autopilot as a companion-computer navigation stack.
Inputs / Outputs
- Inputs: (none)
- Outputs:
Imu
Config aliases
Px4DdsSource, px4DdsSource, px4Source
Properties
Each row shows the setting’s label in the node’s Properties panel and, in code, its key in the node’s settings object in the config file. A setting omitted from the config file uses the default shown here.
| Property | Type | Default | Description |
|---|---|---|---|
Topic Namespace namespace | string | /fmu | PX4 uXRCE-DDS client namespace. Default ‘/fmu’. For multi-vehicle setups use ‘/px4_1/fmu’ etc. |
Bridge Endpoint bridgeEndpoint | string | tcp/[::1]:7447 | Zenoh locator of the zenoh-bridge-ros2dds process. Loopback by default; matches the bundled bridge’s listen socket. |
Auto-spawn Bridge Process autoSpawnBridge | boolean | true | When on, fusionhub spawns the bundled zenoh-bridge-ros2dds process automatically. Turn off if you’re already running it. |
Sender ID senderId | string | px4 | Value written to ImuData.sender_id on emitted packets. |
Subscribe sensor_combined subscribeSensorCombined | boolean | true |
Example node definition
A minimal entry in config.json looks like the block below. Paste it under the sources key, keyed by an instance name of your choice. All settings are optional: anything not listed under settings uses the default from the Properties table above. See The configuration file for how the sections and endpoint wiring work.
{
"sources": {
"px4DdsSource": {
"outEndpoint": "inproc://px4DdsSource_data",
"settings": {}
}
}
}