PX4 · hamishwillee · Nov 23, 2023 · Sep 18, 2023 · Sep 21, 2023 · Sep 21, 2023
diff --git a/assets/middleware/ros2/px4_ros2_interface_lib/mode_requirements_diagram.png b/assets/middleware/ros2/px4_ros2_interface_lib/mode_requirements_diagram.png
diff --git a/assets/middleware/ros2/px4_ros2_interface_lib/qgc_mode_assignment.png b/assets/middleware/ros2/px4_ros2_interface_lib/qgc_mode_assignment.png
diff --git a/assets/middleware/ros2/px4_ros2_interface_lib/qgc_modes.png b/assets/middleware/ros2/px4_ros2_interface_lib/qgc_modes.png
diff --git a/assets/middleware/ros2/px4_ros2_interface_lib/ros2_modes_overview.svg b/assets/middleware/ros2/px4_ros2_interface_lib/ros2_modes_overview.svg
diff --git a/assets/peripherals/qgc_generic_actuator_output_setting_example.png b/assets/peripherals/qgc_generic_actuator_output_setting_example.png
diff --git a/en/SUMMARY.md b/en/SUMMARY.md
@@ -691,6 +691,7 @@
       * [ROS 2 User Guide](ros/ros2_comm.md)
       * [ROS 2 Offboard Control Example](ros/ros2_offboard_control.md)
       * [ROS 2 Multi Vehicle Simulation](ros/ros2_multi_vehicle.md)
+      * [PX4 ROS 2 Interface Library](ros2/px4_ros2_interface_lib.md)
     * [ROS 1 with MAVROS](ros/ros1.md)
       * [ROS/MAVROS Installation Guide](ros/mavros_installation.md)
       * [ROS/MAVROS Offboard Example (C++)](ros/mavros_offboard_cpp.md)

diff --git a/en/config/actuators.md b/en/config/actuators.md
@@ -333,7 +333,7 @@ Functions include:
   Only motors allowed for airframe are displayed.
 - `Servo 1` to `Servo 8`: Servo output.
   These are further assigned a specific meaning based on airframe, such as "tilt servo", "left aileron".
-- `Offboard Acutator Set 1` to `Offboard Acutator Set 6`: [Payloads > Generic Actuator Control with MAVLink](../payloads/README.md#generic-actuator-control-with-mavlink).
+- `Peripheral via Acutator Set 1` to `Peripheral via Acutator Set 6`: [Payloads > Generic Actuator Control with MAVLink](../payloads/README.md#generic-actuator-control-with-mavlink).
 - `Landing Gear`: Output is landing gear.
 - `Parachute`: Output is parachute.
   The minimum value is sent in normal use and the maximum value is emitted when a failsafe is triggered.

diff --git a/en/payloads/README.md b/en/payloads/README.md
@@ -95,13 +95,13 @@ Using integrated hardware allows optimised mission planning and behaviour.
 [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) can be used to set the value of up to 6 actuators (at a time).
 This command can be used in [missions](#generic-actuator-control-in-missions) by creating a "Set actuator" mission item, or as a stand alone command.
 
-The outputs that are to be controlled are specified in the [Actuators](../config/actuators.md#actuator-outputs) configuration screen by assigning the functions `Offboard Actuator Set 1` to `Offboard Actuator Set 6` to the desired [actuator outputs](../config/actuators.md#actuator-outputs).
+The outputs that are to be controlled are specified in the [Actuators](../config/actuators.md#actuator-outputs) configuration screen by assigning the functions `Peripheral via Actuator Set 1` to `Peripheral via Actuator Set 6` to the desired [actuator outputs](../config/actuators.md#actuator-outputs).
 
 ![Generic actuator output setting in QGC](../../assets/peripherals/qgc_generic_actuator_output_setting_example.png)
 
-`MAV_CMD_DO_SET_ACTUATOR` `param1` to `param6` control the outputs mapped by `Offboard Actuator Set 1` to `Offboard Actuator Set 6` respectively.
+`MAV_CMD_DO_SET_ACTUATOR` `param1` to `param6` control the outputs mapped by `Peripheral via Actuator Set 1` to `Peripheral via Actuator Set 6` respectively.
 
-For example, in the image above, the `AUX5` output is assigned the function `Offboard Actuator Set 1` function.
+For example, in the image above, the `AUX5` output is assigned the function `Peripheral via Actuator Set 1` function.
 To control the actuator attached to `AUX5` you would set the value of `MAV_CMD_DO_SET_ACTUATOR.param1`.
 
 <!-- PX4 v1.14 bug https://github.com/PX4/PX4-Autopilot/issues/21966 -->

diff --git a/en/releases/main.md b/en/releases/main.md
@@ -54,3 +54,9 @@ TBD ...
 ### Fixed-wing
 
 - TBD
+
+### ROS 2
+
+- [Experimental] [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A new C++ library that simplifies controlling PX4 from ROS 2.
+  Supports adding flight modes in ROS 2 that are peers of the PX4 modes running on the flight controller.
+  Added to PX4 in [PX4-Autopilot#20707](https://github.com/PX4/PX4-Autopilot/pull/20707) (initial support).