Can not start the "microdds_client" in my computer,and i want build brige about pixhawk and rpi ,is there some errors i set?[Bug]

[Rupepsi]

Describe the bug

Hi someone,I want to run the drone's hardware-in-the-loop mode (HITL) and I want to build communication via microdds, but I can't get microdds_client service up at all times. Here's my PX4 and ROS2 workspace configuration information.
PX4--V1.13.0
ROS2--foxy
Rospberry PI 4 Model B
The packages and configurations have been set up according to the official settings,

To Reproduce

I've switched the drone mode to HITL in QGC, set the MAV_1_CONFIG to TELEM 2, the SER_TEL2_BAUD is 921600 8N1, then close QGC, open a new terminal, go to PX_V1.13.0 and execute "source tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_rtpsand "gazebo Tools/sitl_gazebo/worlds/hitl_iris.world", and then I created a new terminal on Rospberry PI to execute "sudo MicroXRCEAgent serial --dev /dev/ttyAMA0 -b 921600", but it seems that I did not receive the relevant topic information, as shown below
'[1722139282.118839] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1722139282.120295] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4'
Then I opened QGC, it showed HITL and "READY TO FLY", at this time I entered the MAVlink console and wanted to check the "microdds_client status", but it showed that there was no "microdds_client" command, I used to run the software through RTPS in the ring, but at this time I couldn't control the drone in Gazebo with external control commands

Expected behavior

I want to use HITL mode to implement the communication between Pixhawk and Rospberry PI, and I want to know why I can't start the "microdds_client", how to achieve this kind of semi-physical simulation between the physical object and the computer?

Screenshot / Media

Flight Log

Software Version

V1.13.0

Flight controller

Pixhawk 2.4.8

Vehicle type

None

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

No response

Additional context

No response

[XXLiu-HNU]

Maybe you need to modify theuxrce_dds_clientparameter in QGC