The c++ offboard example is not support the latest microdds version.

[JetJie]

IThe c++ offboard example is not support the latest microdds version. Is there any update on the offboard control example?

[dagar]

Take a look at https://github.com/Jaeyoung-Lim/px4-offboard.

At this point with microdds I'm not sure if we should keep px4_ros_com or just get it split up into separate standalone examples we can refer to.

[JetJie]

Ok, I know that, but it is a python example. I need a cpp offboard node to use my previous cpp-based project.

[laylow13]

I got a QoS error when I was running offboard_control. After making the following changes in the code, it can run normally

                rclcpp::QoS qos(10);
		qos.best_effort();
		qos.transient_local();
		offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", qos);
		trajectory_setpoint_publisher_ = this->create_publisher<TrajectorySetpoint>("/fmu/in/trajectory_setpoint", qos);
		vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", qos);

[JetJie]

@laylow13 Could you share me the whole code? Obviously, you add qos snippet in the cpp example. Thanks in advance.