ROS2‐PX4 Interface - Weber-State-UAV-Program/Documentation-2024-2025 GitHub Wiki

The uXRCE-DDS bridge allows all uORB topics (within the reference) used within PX4 to be available as ROS2 Topics. However, knowing which topic to publish to, and what to publish to reliably control the drone can be quite convoluted without a solid understanding of the underlying PX4 firmware. Thus we are using the ROS2-PX4 interface library to abstract some of this.

• ROS2-PX4 Interface Library Github
• ROS2-PX4 Interface Documentation

[!WARNING] This library is very novel and still under active development. The version of this library used in this project is based on PX4 v1.15 and may not work with other versions.

The following is a conceptual overview of how the ROS2-PX4 Control interface modes and mode executors interact with PX4

INFO: More information on the control interface specifically can be found here