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Note: Some files are autogenerated and I did not yet go through each source of generation to fix it there. Instead I adjusted the filter to only exclude those such that we can fix things in steps.
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PX4 ROS 2 Interface Library
:::warning Experimental At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change. :::
The PX4 ROS 2 Interface Library is a C++ library that simplifies controlling and interacting with PX4 from ROS 2.
The library provides two high-level interfaces for developers:
- The Control Interface allows developers to create and dynamically register modes written using ROS 2. It provides classes for sending different types of setpoints, ranging from high-level navigation tasks all the way down to direct actuator controls.
- The Navigation Interface enables sending vehicle position estimates to PX4 from ROS 2 applications, such as a VIO system.
Installation in a ROS 2 Workspace
To get started using the library within an existing ROS 2 workspace:
-
Make sure you have a working ROS 2 setup, with
px4_msgsin the ROS 2 workspace. -
Clone the repository into the workspace:
cd $ros_workspace/src git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib::: info To ensure compatibility, use the latest main branches for PX4, px4_msgs and the library. See also here. :::
-
Build the workspace:
cd .. colcon build source install/setup.bash
CI: Integration Tests
When opening a pull request to PX4, CI runs the library integration tests. These test that mode registration, failsafes, and mode replacement, work as expected.
For more information see PX4 ROS2 Interface Library Integration Testing.