ROS2: Overview what deps needed to start porting

[vooon]

Subj.

[TSC21]

Here goes 1000 issues!!

[TSC21]

Here was my start for this: https://github.com/mavlink/mavros/projects/1. Probably needs some updates.

[mikaelarguedas]

Hi everyone.

I'm not sure this is the right place to post, please let me know if somewhere else is more appropriate.

I started using mavros with ROS2 over the ros1_bridge. To do so I ported a few message packages playing with mavros and ROS2. https://gist.github.com/mikaelarguedas/2a4f34e91a92eb13e1ccce1969ed20d6 (I didnt modify any code only the message generation for the bridge).

I can open PRs with these changes if it's of interest.

[LorenzMeier]

Hi - this is super relevant and a PR would be appreciated. What flight controller are you using with it?

[TSC21]

Well while MAVROS is not ported to ROS2, the ros1_bridge is an acceptable solution. But to what repo are the PR's addressed to?

[mikaelarguedas]

I have code changes for 3 packages ATM (more details in the gist above):

• uuid_msgs
• geographic_msgs
• mavros_msgs

What flight controller are you using with it?

I was playing with the drone_demo from here, using SITL and PX4

[AlexisTM]

Porting to ROS2, wouldn't it be the correct solution to move from MAVLink to FastRTPS for the backend communications?

[TSC21]

@AlexisTM that's already an ongoing work yes.

[ArkadiuszNiemiec]

Is there a branch with ROS2 code? I would like to check if I am able to help with porting and developing FastRTPS part.

[TSC21]

There's no ROS2 branch code yet. It will be made public as soon it is found stable enough for it (at least for the PX4 side)

[dlarue]

Looking for ROS2 also.

[evandp]

Hello, what is the status of porting to ROS2? Are there plans to make the ROS2 branch public any time soon? Thanks!

[TSC21]

There's no effort to port to ROS2 atm.

[TSC21]

If you are interested though on the bridge between PX4 and ROS2 check https://dev.px4.io/v1.9.0/en/middleware/micrortps.html