Support for PX4-Autopilot stable release v1.12.3

[bluecat1997]

I followed the instructions here to build my development environment.

When I checkout PX4_Autopilot px4_msgs and px4_ros_com into master and run the sensor_combined_listener example, I can succefly receive data sent from sitl FCU.

but my code is developed base on PX4-Autopilot stable release v1.12.3, and I have noticed that yaml file in PX4-Autopilot/msg/tools is "uorb_rtps_message_ids.yaml", which is differient from "urtps_bridge_topics .yaml" in px4 master and px4_ros_com master.

So when I open sitl simulation in PX4 v1.12.3 and build px4_msgs & px4_ros_com both in master ,I get output like this
[ micrortps_agent ] Unexpected topic ID '62' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '62'

I tried to checkout px4_ros_com to a commit like b79638e , just before .yaml filename changed in commit 5b9970a. But I still receive nothing on ROS2 example sensor_combined_listener, and get error [ micrortps_agent ] Unexpected topic ID '62' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '62'

I just want to know how can I use PX4 to ROS2 FastDDS bridge in a stable release version of PX4-Autopilot?

If someone can give me some advise, Thanks a lot !

@TSC21