PX4 ROS 2 Interface Library

PX4 v1.15 Experimental

Experimental

At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.

INFO

When using rmw_zenoh, the PX4 ROS 2 Interface Library requires ROS 2 Jazzy or later, and is not compatible with ROS 2 Humble or earlier.

The PX4 ROS 2 Interface Library is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.

The library provides three high-level interfaces for developers:

1. 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.
2. The Navigation Interface enables sending vehicle position estimates to PX4 from ROS 2 applications, such as a VIO system.
3. Waypoint Missions allows waypoint missions to run entirely in ROS 2.

Installation in a ROS 2 Workspace

To get started using the library within an existing ROS 2 workspace:

1. Make sure you have a working ROS 2 setup, with px4_msgs in the ROS 2 workspace.

2. 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.

3. 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 ROS 2 Interface Library Integration Testing.