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add page for PX4 ROS library #2740

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merged 20 commits into from
Nov 23, 2023
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Merged

add page for PX4 ROS library #2740

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e49b3e5
ros2: add px4 sdk page
bkueng Sep 18, 2023
ade0c99
Prettier plus minor layout
hamishwillee Sep 21, 2023
4ee6bec
Move md under ros2. Move images under ros2 sdk
hamishwillee Sep 21, 2023
ae41744
losslessly shrink images
hamishwillee Sep 21, 2023
997eaf9
rename PX4 SDK -> PX4 ROS 2 interface library
bkueng Nov 2, 2023
58776d4
ros2: update modes overview diagram to latest version
bkueng Nov 2, 2023
c8329b0
ros2: add flow diagram for mode requirements
bkueng Nov 2, 2023
a18245d
ros2: address review comments
bkueng Nov 3, 2023
dd58c6d
rename Offboard_Actuator_Set to Peripheral_via_Actuator_Set
bkueng Nov 8, 2023
f8f7963
px4_ros2_interface_lib: minor updates
bkueng Nov 21, 2023
f0e7771
prettier and heading capitalisation
hamishwillee Nov 22, 2023
9e0a1f1
Fix typo (I injected)
hamishwillee Nov 22, 2023
eff7f79
Minor subedit
hamishwillee Nov 22, 2023
8205a4e
Update en/ros2/px4_ros2_interface_lib.md
bkueng Nov 22, 2023
a3993ab
ros library page: add to releases, add mode executor example
bkueng Nov 22, 2023
dc469fa
Experimental status + release note link
hamishwillee Nov 23, 2023
45f3842
Add more info on telemetry
hamishwillee Nov 23, 2023
592e5b9
A little more in CI
hamishwillee Nov 23, 2023
d599ad7
Update en/ros2/px4_ros2_interface_lib.md
hamishwillee Nov 23, 2023
fd5bde0
Apply suggestions from code review
hamishwillee Nov 23, 2023
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5 changes: 4 additions & 1 deletion en/releases/main.md
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Expand Up @@ -56,4 +56,7 @@ TBD ...
- TBD

### ROS 2
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A new C++ library that simplifies controlling PX4 from 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).
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FYI the important thing here is to set expectation. So I have put a prefix experimental and added a link to the initial PR.
As you enhance this you can add new PR links.
If you consider significant parts of this stable, we can remove "Experimental".

12 changes: 12 additions & 0 deletions en/ros2/px4_ros2_interface_lib.md
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@@ -1,5 +1,17 @@
# PX4 ROS 2 Interface Library

:::warning Experimental
At time of writing parts of the PX4 ROS 2 Interface Library is experimental, and hence subject to change:

- The architecture and core interfaces for defining modes in ROS 2 modes are largely stable.
The library offers significant benefits over using offboard mode in its current state.
- Only a few setpoint types have settled (the others are still under development).
You may need to use internal PX4 topics which may not remain backwards-compatible over time.
- The API is not fully documented.
- Testing in CI is still limited.
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This is ok, but just fyi most of the things that are there are tested. Mostly the setpoint types (with their expected behavior) that are not.

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Then let's say that :-)

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FYI I added section "Experimental" up the top. What I'm trying to do here is explain that the mode stuff works now and already gives you a benefit over using offboard mode, but that many of the abstractions we provide for working with ROS 2 do not exist yet. So you can use it but likely things will change.

I've done it in bullets so you can extend easily if you want. I'm open to any text which sets the level of expectation appropriately (i.e. this is "for discussion").


The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library that simplifies controlling PX4 from ROS 2.

Developers use the library to create and dynamically register modes written using ROS 2.
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