Can I use microRTPS to communicate with crazyflie2.1 ?

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PX4 Autopilot Software

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Can I use microRTPS to communicate with crazyflie2.1 ? #18273

Open chaos4ros2 opened 3 years ago

chaos4ros2 commented 3 years ago

Hi, I want to control crazyflie2.1 by PX4 within microRTPS for ROS2 app but I can't find a RTPS version in PX4-Autopilot.(only bitcraze_crazyflie21_default, no _rtps feature)

Is thre any way to let crazyflie2.1 to operate as a microRTPS client?

benjinne commented 3 years ago

You need to add the rtps makefile. I did it for another board a while ago. See this PR https://github.com/PX4/PX4-Autopilot/pull/17338

chaos4ros2 commented 3 years ago

Thank you for providing the solution! I am going to try it and If it works fine, I'll create a PR.