# RTPS/ROS2 接口：PX4-FastRTPS桥接

<Badge type="info" text="Discontinued" />

[uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) has replaced the _Fast-RTPS Bridge_.
If you're working in PX4 v1.13 or earlier see: [Fast-RTPS Bridge](https://docs.px4.io/v1.13/en/middleware/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge)
