Topic Mismatch Error ~v1.16.0alpha

[raj-anadkat]

Description

I'm experiencing message compatibility issues while trying to run the custom mode with the following setup.

Environment

Hardware

• Ark FPV Flight Controller
• PX4 Firmware version: v1.16.0-alpha

Steps to reproduce

1. Cloned the repository
2. Ran git submodule update --init --recursive
3. Built with colcon build
4. Executed ros2 run custom_mode custom_mode

Error Output

[ERROR] Mismatch for the following topics, update PX4 or the px4_ros2 library and px4_msgs:
  - fmu/in/aux_global_position
  - fmu/in/vehicle_attitude_setpoint
  - fmu/out/battery_status
  - fmu/out/vehicle_global_position
  - fmu/out/vehicle_local_position

Question

Is this compatibility issue related to running the 1.16.0-alpha version of PX4 on the FC? Could you please advise which PX4 stable version you recommend using with the current px4_ros2_interface_lib on actual hardware? Thanks!

Additional Information

Full Error Log

[DEBUG] [1738048753.848798478] [CustomMode]: Waiting for FMU...
[DEBUG] [1738048756.262989728] [CustomMode]: Checking message compatibility...
[DEBUG] [1738048756.272082706] [CustomMode]: Subscriber found, continuing
[DEBUG] [1738048756.272310582] [CustomMode]: Publisher found, continuing
[ERROR] [1738048756.673327406] [CustomMode]: Mismatch for the following topics...

[raj-anadkat]

@patrikpordi I reverted to PX4 v1.15.0-beta1. I had to manually add and build support for the ARK FPV board since it was released after this version. The topic mismatch error appears to be resolved. However, switching to Custom Mode results in a "Mode not available" error. Im using QGC daily build. Any insights on resolving this would be greatly appreciated!