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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
72 lines
2.1 KiB
Markdown
72 lines
2.1 KiB
Markdown
# PX4 ROS 2 Interface Library
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<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
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:::warning Experimental
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At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
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:::
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The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library that simplifies controlling and interacting with PX4 from ROS 2.
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The library provides two high-level interfaces for developers:
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1. The [Control Interface](./px4_ros2_control_interface.md) allows developers to create and dynamically register modes written using ROS 2.
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It provides classes for sending different types of setpoints, ranging from high-level navigation tasks all the way down to direct actuator controls.
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2. The [Navigation Interface](./px4_ros2_navigation_interface.md) enables sending vehicle position estimates to PX4 from ROS 2 applications, such as a VIO system.
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<!--
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## Overview
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-->
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## Installation in a ROS 2 Workspace
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To get started using the library within an existing ROS 2 workspace:
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1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
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2. Clone the repository into the workspace:
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```sh
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cd $ros_workspace/src
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git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
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```
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::: info
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To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
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See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
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:::
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3. Build the workspace:
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```sh
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cd ..
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colcon build
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source install/setup.bash
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```
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<!--
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## How to Use the Library
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-->
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## CI: Integration Tests
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When opening a pull request to PX4, CI runs the library integration tests.
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These test that mode registration, failsafes, and mode replacement, work as expected.
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The tests can also be run locally from PX4:
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```sh
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./test/ros_test_runner.py
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```
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And to run only a single case:
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```sh
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./test/ros_test_runner.py --verbose --case <case>
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```
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You can list the available test cases with:
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```sh
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./test/ros_test_runner.py --list-cases
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```
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