px4_msgs

This package contains the ROS2 message definitions of the PX4 Pro ecosystem. Building this package generates all the required interfaces to interface ROS2 nodes with the PX4 autopilot internals, which use the uORB messaging API. Currently the messages of this package represent a dependency to px4_ros_com package.

uORB message definitions

The uORB message definitions, which represent the counter-part of the ROS2 messages found in this package, can be found on the PX4 Firmware repository.

How are these messsage definitions generated?

When uORB message definitions in the PX4 firmware repository change, a CI/CD pipeline automatically generates and pushes updated ROS message definitions to this repository. The ROS message definitions are generated by the uorb_to_ros_msgs.py script. One can also use this script to generate its own ROS message definitions for new or modified uORB messages.

Install, build and usage

Check the Ament tutorial to understand how this can be built inside a worspace. Check the RTPS/ROS2 Interface section on the PX4 Devguide for further details on how this integrates with the px4_ros_com package.

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 PX4 Slack channel: