Start micrortps_client at boot

[PeterKarstensen]

Hello everyone!

I am currently working on setting up the RTPS/DDS Interface: PX4-Fast RTPS(DDS) Bridge between my PX4 version 5 and my companion computer, currently just my PC, for usage with ROS2.

To this end I have of course followed the ROS 2 User guide. After some time I figured, that the fmu-v5 firmware should be built using make px4_fmu-v5_rtps.
First I had some issues with my flight computer rebooting after issuing micrortps_client start in the MAVlink console. Issue #19852 suggested to set CONFIG_MODULES_MICRODDS_CLIENT=n in PX4_Autopilot/boards/px4/fmu-v5/rtps.px4board.
This finally enabled me to establish the bridge as described in the ROS 2 User guide, and to subscribe to e.g. the sensor data and so on.

But I still have to start the micrortps_client via e.g. the MAVlink console, for example via QGroundControl. I want this client to start when booting the Pixhawk. In the description regarding the RTPS bridge there is note stating that the client daemon needs to be started manually and that in the future, this may be started automatically.
In the meanwhile, how can i setup up the firmware to do this automatically? I was pointed to the file PX4_Autopilot/boards/px4/fmu-v5/init/rc.board_defaults by a co-worker. I appended this file with micrortps_client start, but this did not work. I tried appending the file with the addition of the option micrortps_client start -d /dev/ttyACM0 but with no success either.

Which file should I append micrortps_client start, in order to start the daemon automatically?

Kind regards
Peter

[beniaminopozzan]

Hi Peter!

The parameter RTPS_CONFIG (https://docs.px4.io/main/en/advanced_config/parameter_reference.html#rtps) is probably what you are looking for. Choose the serial port you want to use, reboot and select the desired baudrate with the associated SER_***_BAUD parameter.

You will have the micrortps_client starting at boot on the desired port with the desired baudrate.