ROS 2 message definitions for the PX4 Autopilot project.

Building this package generates all the required interfaces to interface ROS 2 nodes with the PX4 internals.

Depending on the PX4 and ROS versions you want to use, you need to checkout the appropriate branch of this package:

When PX4 message definitions in the main branch of PX4 Autopilot change, a CI/CD pipeline automatically copies and pushes updated ROS message definitions to this repository. This ensures that this repository main branch and the PX4-Autopilot main branch are always up to date. However, if you are using a custom PX4 version and you modified existing messages or created new one, then you have to manually synchronize them in this repository:

• Checkout the correct branch associated to the PX4 version from which you detached you custom version.
• Delete all *.msg and *.srv files in msg/ and srv/.
• Copy all *.msg and *.srv files from PX4-Autopilot/msg/ and PX4-Autopilot/srv/ in msg/ and srv/, respectively. Assuming that this repository and the PX4-Autopilot repository are placed in your home folder, you can run:

  rm -f ~/px4_msgs/msg/*.msg
  rm -f ~/px4_msgs/srv/*.srv
  cp ~/PX4-Autopilot/msg/*.msg ~/px4_msgs/msg/
  cp ~/PX4-Autopilot/srv/*.srv ~/px4_msgs/srv/

Check Using colcon to build packages to understand how this can be built inside a workspace. Check the PX4 ROS 2 User Guide section on the PX4 documentation for further details on how this integrates PX4 and how to exchange messages with the autopilot.

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

Reach the PX4 development team on the PX4 Discord Server.