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June 20 – 21, 2019 | ETH Zurich, Switzerland | #PX4DevSummit

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ROS [clear filter]
Thursday, June 20
 

12:00pm

SITL improvements and ROS2 integration
As we work towards integrating more advanced functionality into drones it's important to be able to test them. We have been working toward improving supporting multi drone simulation as well as complex worlds to support sensor based autonomy in SITL and fully automated integration tests.

Speakers
avatar for Tully Foote

Tully Foote

Platform Manager, OSRF



Thursday June 20, 2019 12:00pm - 12:30pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

12:30pm

ROS2 Powered PX4
As we look towards more complex systems, PX4-powered UAS will become a subsystem in a larger system. With the current developments of ROS 2 and its infrastructure, the demand to make PX4 capable of integrating with such framework has increased, besides the current already supported ROS-Mavlink bridge package, MAVROS. The ability to isolate telemetry links over Mavlink and provide a more tight integration of the PX4 internal communication architecture with the companion systems lead us to explore the benefits of DDS (Data Distribution Service) standard and, for that reason, implement a bridge that allows PX4 uORB publisher/subscriber architecture to connect to RTPS (Real Time Publish-Subscribe) protocol participants over the same DDS standard layer, while looking to gradually abandon the usage of Mavlink in companion computer links. As being the default middleware of ROS2, eProsima Fast-RTPS was the chosen RTPS implementation to bridge PX4 uORB topics with ROS 2 nodes.

This presentation will show how the px4_ros_com, a ROS2 package for bridging PX4 and ROS2 through a micro-RTPS bridge - a slimmed down RTPS point-to-point link using micro-RTPS (client/FCU side) and Fast-CDR (agent/companion side) for serialization and deserialization - is architectured and implemented, how can it be used and provide an overall status about its current development state and future works. It will also be provided a pros/cons comparison between using RTPS-supported and Mavlink-supported communication in PX4 and companion computer links.

Speakers
avatar for Nuno Marques

Nuno Marques

Software Engineer, Drone Tech Consultant



Thursday June 20, 2019 12:30pm - 1:00pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza