Developing pico node using Yukon

I am trying to utilize 107-Arduino-Cyphal related libraries to develop a pico node.
And, I am trying to subscribe to some uavcan.primitive.scalar.Real16.1.0 published by Yukon, and sadly got this:


What would be the necessary steps to let Yukon discover a subscription from a Pico node?
Thank you!

You are missing uavcan.(pub|sub|cln|srv).PORT_NAME.type registers. See the Spec:

Oh my bad.
I put cyphal.sub.PORT_NAME.type instead of uavcan.sub.PORT_NAME.type now everything works!
Thank you!