# ROS 2

[ROS 2](https://docs.ros.org/en/humble/#) is a powerful general purpose robotics library that can be used with the PX4 Autopilot to create powerful drone applications.

:::warning
Tip
The PX4 development team highly recommend that you use/migrate to this version of ROS!

This is the newest version of [ROS](https://www.ros.org/) (Robot Operating System).
It significantly improves on ROS "1", and in particular allows a much deeper and lower-latency integration with PX4.
:::

ROS користується активною екосистемою розробників, які вирішують загальні проблеми робототехніки, а також має доступ до інших бібліотек програмного забезпечення, написаних для Linux.
It can be used, for example, for [computer vision](../computer_vision/index.md) solutions.

ROS 2 enables a very deep integration with PX4, to the extent that you can create flight modes in ROS 2 that are indistinguisable from internal PX4 modes, and directly read from and write to internal uORB topics at high rate.
It is recommended (in particular) for control and communication from a companion computer where low latency is important, when leveraging existing libraries from Linux, or when writing new high level flight modes.

Communication between ROS 2 and PX4 uses middleware that implements the [XRCE-DDS protocol](../middleware/uxrce_dds.md).
This middleware exposes PX4 [uORB messages](../msg_docs/index.md) as ROS 2 messages and types, effectively allowing direct access to PX4 from ROS 2 workflows and nodes.
Проміжна програма використовує визначення повідомлень uORB для генерації коду для серіалізації та десеріалізації заголовків повідомлень PX4.
Ці ж визначення повідомлень використовуються в програмах ROS 2, щоб дозволити інтерпретувати повідомлення.

:::info
ROS 2 can also connect with PX4 using [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros) instead of XRCE-DDS.
This option is supported by the MAVROS project (it is not documented here).
:::

To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS effectively, you must (at time of writing) have a reasonable understanding of the PX4 internal architecture and conventions, which differ from those used by ROS.
У найближчому майбутньому ми плануємо надати ROS 2 API до абстрактних конвенцій PX4, разом із прикладами, що демонструють їх використання.

## Topics

Основні теми в цьому розділі є:

- [ROS 2 User Guide](../ros2/user_guide.md): A PX4-centric overview of ROS 2, covering installation, setup, and how to build ROS 2 applications that communicate with PX4.
- [ROS 2 Offboard Control Example](../ros2/offboard_control.md): A C++ tutorial examples showing how to do position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
- [ROS 2 Multi Vehicle Simulation](../ros2/multi_vehicle.md): Instructions for connecting to multipole PX4 simulations via single ROS 2 agent.
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A C++ library that simplies interacting with PX4 from ROS 2.
  Can be used to create and register flight modes wrtten using ROS2 and send position estimates from ROS2 applications such as a VIO system.
- [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md): A ROS 2 message translation node that enables communcation between PX4 and ROS 2 applications that were compiled with different sets of messages versions.

## Подальша інформація

- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 middleware for connecting to ROS 2.