# running uxrce_client with voxl2-px4

Source: https://forum.modalai.com/topic/2874/running-uxrce_client-with-voxl2-px4
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2023-11-17 02:57:20 UTC by Kyuhyong You
Replies: 3 · Views: 1867

## Kyuhyong You · 2023-11-17 02:57:20 UTC

Hello, 
I just wondering if volx2-px4 can run uxrce_dds_client as described here.
https://docs.px4.io/main/en/middleware/uxrce_dds.html

I was able to build install ros2 on voxl2 and uxrce_dds_agent and runs ok with external FC.

I also found voxl-px4 runs with v1.14.0 version
```
pxh> ver mcu
UNKNOWN MCU
pxh> ver hw
HW arch: MODALAI_VOXL2
pxh> ver all
HW arch: MODALAI_VOXL2
PX4 git-hash: 
PX4 version: 1.14.0 0 (17694720)
Vendor version: 2.0.34 0 (33563136)
OS: Linux
OS version: Release 4.19.125 (68386303)
Build datetime: Jun  7 2023 14:33:27
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 7.5.0
PX4GUID: 
UNKNOWN MCU
```
Is it possible to run dds client?

## Reply by Zachary Lowell 0 · 2023-11-17 15:39:43 UTC

@Kyuhyong-You the voxl2 on sdk 1.1.0 runs the dds_client out the gate. You can see here in the executable of PX4 that we spin up the dds client:

https://github.com/modalai/px4-firmware/blob/557d402e84e0a3ea122a0383270ff680d920bb7e/boards/modalai/voxl2/target/voxl-px4-start#L213

`# Start microdds_client for ros2 offboard messages from agent over localhost
microdds_client start -t udp -h 127.0.0.1 -p 8888`

In order to communicate - make sure you have `voxl-microdds-agent` installed via apt-get as well as configured. Then you should be able to communicate over the bridge:

Here are the instructions: https://docs.modalai.com/ros2-installation-voxl2/

## Reply by Kyuhyong You · 2023-11-20 03:24:47 UTC (in reply to Zachary Lowell 0)

@Zachary-Lowell-0 
Thanks for your comment!

So it means px4 on voxl2 is running microdds_client which is not compatible with uxrce_dds_cleint on the PX4 release/1.14.0
And the microdds_client will start automatically when px4 on voxl2 service is up and running?

## Reply by Zachary Lowell 0 · 2023-11-20 16:29:43 UTC

Sure thing @Kyuhyong-You . That is correct - currently the voxl2 runs the microdds client instead of the uxrce dds client on 1.14.0 stable. The microdds client starts automatically on the voxl2 when px4 is instantiated - if not, feel free to build PX4 yourself and flash it on the board via the instructions here:

https://docs.modalai.com/voxl-px4-dev-build-guide/

There is also another service available on SDK 1.1 (https://docs.modalai.com/sdk-1.1-release-notes/) called microdds-agent which spins up the agent to listen to localhost port 8888 and allow for comms similar to mavsdk. 

https://docs.modalai.com/ros2-installation-voxl2/