# Developing pico node using Yukon

**URL:** <https://forum.opencyphal.org/t/developing-pico-node-using-yukon/1978>\
**Category:** Applications & Usage\
**Created:** [September 8, 2023, 7:26am UTC](https://forum.opencyphal.org/t/developing-pico-node-using-yukon/1978 "2023-09-08T07:26:12Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Kevin](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/kevin/32/1431_2.png) [@Kevin](https://forum.opencyphal.org/u/Kevin)\
**Post date:** [September 8, 2023, 7:26am UTC](https://forum.opencyphal.org/t/developing-pico-node-using-yukon/1978/1 "2023-09-08T07:26:12Z")

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Hi!  
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:

 ![image](https://forum.opencyphal.org/uploads/default/original/2X/7/7881debcd6b237dff6e936994e369570c92819fa.png)  
 ![image](https://forum.opencyphal.org/uploads/default/original/2X/a/a0b904bcb99151841ec3395495ef6aa579fef31d.png)

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

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**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\
**Post date:** [September 8, 2023, 8:27am UTC](https://forum.opencyphal.org/t/developing-pico-node-using-yukon/1978/2 "2023-09-08T08:27:15Z")

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

> <https://github.com/OpenCyphal/public_regulated_data_types/blob/935973babe11755d8070e67452b3508b4b6833e2/uavcan/register/384.Access.1.0.dsdl#L154-L162>

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<div class="post-metadata">

**Author:** ![Kevin](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/kevin/32/1431_2.png) [@Kevin](https://forum.opencyphal.org/u/Kevin)\
**Post date:** [September 8, 2023, 8:52am UTC](https://forum.opencyphal.org/t/developing-pico-node-using-yukon/1978/3 "2023-09-08T08:52:45Z")

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Oh my bad.  
I put **cyphal.sub.PORT\_NAME.type** instead of **uavcan.sub.PORT\_NAME.type** now everything works!  
Thank you!