UOrb topic 'home_position' not published internally or to ROS2 unless updated

[fnndyl]

Describe the bug

Hi everyone, I seem to have encountered an issue where the uorb topic 'home_position' will not publish to ROS2 /fmu/out/home_position. I have checked to make sure that I have the right message definition in px4_msgs, and even copied the .msg file over from the PX4 installation to make sure, but that does not seem to fix it. I was using release 1.16.0, but cloned the most recent commit as of posting and the issue still seemed to be happening.

Internally, if I go to the PX4 console or mavlink console in QGC, I can see taht the response to 'uorb top home_position' indicates the publishing rate is zero, even if I set it higher using QGC. Any idea what might be going on?

To Reproduce

1. Build px4_sitl gz_x500
2. In the console run the command 'uorb top home_position'

Should see that the rate is zero. Similarly, to debug ROS2 launch the microxrce agent as per the docs and:

1. ros2 topic echo /fmu/out/home_position

Nothing is printed on to the screen.

Expected behavior

home_position topic published to ROS2/internally

Screenshot / Media

Flight Log

No response

Software Version

PX4 1.16.0 and most recent commit at time of posting.

Flight controller

px4_sitl

Vehicle type

Multicopter

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

SITL testing, no hardware.

Additional context

No response

[fnndyl]

Okay I seem to be wrong, partially. The topic only publishes when it is updated - e.g. move drone in simulation. Is there a way to request this data from the drone without doing this? But not a bug.