[Bug] Use ros2 get plane message not work in real but it work in simulation

[1009828966]

Describe the bug

In simulation, i can get all message ,but use jetson it not work in real fly.
I suspect there is an issue.Communication using Micro-XRCE-DDS-Agent only works properly when the flight controller is just starting up,but even then it does not function correctly.Attempting to reestablish communication results in failure
No errors are reported during in process.

To Reproduce

first connect:

(base) amov@amov-desktop:~/Desktop$ sudo MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600
[1726213982.331742] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1726213982.332176] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1726213982.920517] info     | Root.cpp           | create_client            | create                 | client_key: 0x00000001, session_id: 0x81
[1726213982.920642] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x00000001, address: 1
[1726213982.936959] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x00000001, participant_id: 0x001(1)
[1726213983.041279] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x800(2), participant_id: 0x001(1)
[1726213983.041544] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x800(4), participant_id: 0x001(1)
[1726213983.045129] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x800(6), subscriber_id: 0x800(4)
[1726213983.152808] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x801(2), participant_id: 0x001(1)
[1726213983.152953] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x801(4), participant_id: 0x001(1)
[1726213983.153660] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x801(6), subscriber_id: 0x801(4)
[1726213983.262828] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x802(2), participant_id: 0x001(1)
[1726213983.262972] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x802(4), participant_id: 0x001(1)
[1726213983.263500] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x802(6), subscriber_id: 0x802(4)
[1726213983.367731] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x803(2), participant_id: 0x001(1)
[1726213983.367865] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x803(4), participant_id: 0x001(1)
[1726213983.368551] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x803(6), subscriber_id: 0x803(4)
[1726213983.474978] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x804(2), participant_id: 0x001(1)
[1726213983.475117] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x804(4), participant_id: 0x001(1)
[1726213983.475688] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x804(6), subscriber_id: 0x804(4)
[1726213983.581477] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x805(2), participant_id: 0x001(1)
[1726213983.581666] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x805(4), participant_id: 0x001(1)
[1726213983.582613] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x805(6), subscriber_id: 0x805(4)
[1726213983.691474] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x806(2), participant_id: 0x001(1)
[1726213983.691688] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x806(4), participant_id: 0x001(1)
[1726213983.692468] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x806(6), subscriber_id: 0x806(4)
[1726213983.800836] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x807(2), participant_id: 0x001(1)
[1726213983.801013] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x807(4), participant_id: 0x001(1)
[1726213983.801840] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x807(6), subscriber_id: 0x807(4)
[1726213983.910008] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x808(2), participant_id: 0x001(1)
[1726213983.910181] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x808(4), participant_id: 0x001(1)
[1726213983.911055] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x808(6), subscriber_id: 0x808(4)
[1726213984.018254] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x809(2), participant_id: 0x001(1)
[1726213984.018509] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x809(4), participant_id: 0x001(1)
[1726213984.019356] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x809(6), subscriber_id: 0x809(4)
[1726213984.125539] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80A(2), participant_id: 0x001(1)
[1726213984.125694] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80A(4), participant_id: 0x001(1)
[1726213984.126240] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80A(6), subscriber_id: 0x80A(4)
[1726213984.234192] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80B(2), participant_id: 0x001(1)
[1726213984.234393] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80B(4), participant_id: 0x001(1)
[1726213984.235193] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80B(6), subscriber_id: 0x80B(4)
[1726213984.341322] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80C(2), participant_id: 0x001(1)
[1726213984.341494] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80C(4), participant_id: 0x001(1)
[1726213984.342297] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80C(6), subscriber_id: 0x80C(4)
[1726213984.448277] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80D(2), participant_id: 0x001(1)
[1726213984.448413] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80D(4), participant_id: 0x001(1)
[1726213984.448989] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80D(6), subscriber_id: 0x80D(4)
[1726213984.555566] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80E(2), participant_id: 0x001(1)
[1726213984.555700] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80E(4), participant_id: 0x001(1)
[1726213984.556288] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80E(6), subscriber_id: 0x80E(4)
[1726213984.665314] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x80F(2), participant_id: 0x001(1)
[1726213984.665578] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x80F(4), participant_id: 0x001(1)
[1726213984.666134] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x80F(6), subscriber_id: 0x80F(4)
[1726213984.777423] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x810(2), participant_id: 0x001(1)
[1726213984.777594] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x810(4), participant_id: 0x001(1)
[1726213984.778191] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x810(6), subscriber_id: 0x810(4)
[1726213984.887473] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x811(2), participant_id: 0x001(1)
[1726213984.887656] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x811(4), participant_id: 0x001(1)
[1726213984.888321] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x811(6), subscriber_id: 0x811(4)
[1726213984.995337] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x812(2), participant_id: 0x001(1)
[1726213984.995514] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x812(4), participant_id: 0x001(1)
[1726213984.996322] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x812(6), subscriber_id: 0x812(4)
[1726213985.105297] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x813(2), participant_id: 0x001(1)
[1726213985.105571] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x813(4), participant_id: 0x001(1)
[1726213985.106364] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x813(6), subscriber_id: 0x813(4)
[1726213985.212924] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x814(2), participant_id: 0x001(1)
[1726213985.213091] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x814(4), participant_id: 0x001(1)
[1726213985.213669] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x814(6), subscriber_id: 0x814(4)
[1726213985.321106] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x815(2), participant_id: 0x001(1)
[1726213985.321317] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x815(4), participant_id: 0x001(1)
[1726213985.322183] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x815(6), subscriber_id: 0x815(4)
[1726213985.428094] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x816(2), participant_id: 0x001(1)
[1726213985.428310] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x816(4), participant_id: 0x001(1)
[1726213985.429123] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x816(6), subscriber_id: 0x816(4)
[1726213985.538033] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x817(2), participant_id: 0x001(1)
[1726213985.538215] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x817(4), participant_id: 0x001(1)
[1726213985.539050] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x817(6), subscriber_id: 0x817(4)
[1726213985.648572] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x818(2), participant_id: 0x001(1)
[1726213985.648721] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x818(4), participant_id: 0x001(1)
[1726213985.649284] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x818(6), subscriber_id: 0x818(4)
[1726213985.757375] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x819(2), participant_id: 0x001(1)
[1726213985.757548] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x819(4), participant_id: 0x001(1)
[1726213985.758136] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x819(6), subscriber_id: 0x819(4)
[1726213985.863824] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x81A(2), participant_id: 0x001(1)
[1726213985.864010] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x81A(4), participant_id: 0x001(1)
[1726213985.864829] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x81A(6), subscriber_id: 0x81A(4)
[1726213985.973765] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x00000001, topic_id: 0x81B(2), participant_id: 0x001(1)
[1726213985.973911] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x00000001, subscriber_id: 0x81B(4), participant_id: 0x001(1)
[1726213985.974655] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x81B(6), subscriber_id: 0x81B(4)
[1726213986.084787] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x00000001, requester_id: 0x800(7), participant_id: 0x001(1)

connect again:

(base) amov@amov-desktop:~/Desktop$ sudo MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600
[1726214055.769350] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1726214055.769766] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4

Expected behavior

No response

Screenshot / Media

No response

Flight Log

No response

Software Version

1.15.0 Beta

Flight controller

V5+AutoPoilt

Vehicle type

Fixed Wing

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

No response

Additional context

No response