[Bug] Cannot access /fmu/in/vehicle_mocap_odometry and /fmu/in/vehicle_visual_odometry using mocap_px4_bridge with Pixhawk 6C (PX4 v1.15.2)

[tuananh0606-tech]

Describe the bug

Hi,

I’m trying to follow the guide from mocap_px4_bridge, specifically:

📎 Indoor Localization using OptiTrack and PX4

My goal is to use motion capture data from OptiTrack to feed position information into the Pixhawk 6C using ROS 2 and microRTPS, as described in the guide.

I cannot find or access the following expected topics on the Pixhawk flight controller:

/fmu/in/vehicle_mocap_odometry

/fmu/in/vehicle_visual_odometry

To Reproduce

1. Setup as https://github.com/SaxionMechatronics/mocap_px4_bridge
2. Check ros2 topic list
3. Check uorb status

Expected behavior

Show: /fmu/in/vehicle_mocap_odometry /fmu/in/vehicle_visual_odometry Connect to Optitrack Motive system

Screenshot / Media

No response

Flight Log

Tutorial https://docs.px4.io/main/en/ros/external_position_estimation.html and https://github.com/SaxionMechatronics/mocap_px4_bridge

Software Version

Flight controller: Pixhawk 6C

PX4 firmware: v1.15.2

ROS 2: Humble

MicroRTPS (uxrce): v2.4.2

OptiTrack Motive: Version Tracking 2.1.0

mocap_px4_bridge running on the companion computer RPi 4 Model B

Flight controller

Pixhawk 6C

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[tuananh0606-tech]

@beniaminopozzan can you help me, please?