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In first terminal with PX4 Autopilot repo: make px4_sitl gz_x500
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In second terminal: MicroXRCEAgent udp4 --port 8888
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In third terminal be sure to source install/setup.bash in the project that has px4_msgs installed and built
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Then run ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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In fourth terminal in this project directory run npx serve src/
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Navigate to http://localhost:3000/topics