h2jaafar/px4_ros_com

ROS2/ROS interface with PX4 through a Fast-RTPS bridge

Modifications

This fork is for personal development of PX4 for some multi-agent experimentation. Main changes are the addition of two examples, offboard_control_multi_boat.cpp and offboard_control_multi_boat.cpp. I also added the world file.

To install the worlds and models, copy contents from worlds_and_models to /px4/PX4-Autopilot/Tools/sitl_gazebo/worlds or /px4/PX4-Autopilot/Tools/sitl_gazebo/models

To run (make sure installed correctly, see details at end). source ./install/setup.bash

Terminal 1:

cd ~/px4/PX4-Autopilot/

git submodule update --init --recursive
DONT_RUN=1 make px4_sitl_rtps gazebo
./Tools/gazebo_sitl_multiple_run.sh -n 2 -s plane:1,boat:1 -t px4_sitl_rtps -w boat_2

Terminal 2: (px4_ros_com_ros2 is the colcon workspace), with src/px4_ros_com and src/px4_msgs

cd ~/px4_ros_com_ros2
source ./install/setup.bash
micrortps_agent -t UDP -r 2020 -s 2019 -n vhcl0 & micrortps_agent -t UDP -r 2022 -s 2021 -n vhcl1 &

Note, when closing this terminal, it is necessary to do killall micrortps_* to kill all processing which may remain. If not, the some of the UDP ports (2020, 2019, 2021, 2022) will remain occupied.

Terminal 3:

cd ~/px4_ros_com_ros2
source ./install/setup.bash
ros2 run px4_ros_com offboard_control_multi_boat 

Or to control the plane Terminal 4:

cd ~/px4_ros_com_ros2
source ./install/setup.bash
ros2 run px4_ros_com offboard_control_multi_plane 

PX4-ROS2 bridge

This package materializes the ROS2 side of PX4-FastRTPS/DDS bridge, establishing a bridge between the PX4 autopilot stack through a micro-RTPS bridge, Fast-RTPS(DDS) and ROS2. It has a straight dependency on the px4_msgs package, as it depends on the IDL files, to generate the micro-RTPS bridge agent, and on the ROS interfaces and typesupport, to allow building and running the example nodes.

The master branch of this package composes the ROS2 package and the ROS2 side (agent) of the bridge. The ros1 branch is a product of the master and represents the ROS(1) package and the ROS(1) side of the bridge, for wich it is required using the ros1_bridge.

Install, build and usage

Check the RTPS/ROS2 Interface section on the PX4 Devguide for details on how to install the required dependencies, build the package (composed by the two branches) and use it.

Bug tracking and feature requests

Use the Issues section to create a new issue. Report your issue or feature request here.

Questions and troubleshooting

Reach the PX4 development team on the #messaging or #ros PX4 Slack channels: