ROS2 Wrapper for The Px4 Autopilot
To use this repository, you are required to install both px4ctrl_client and px4ctrl_msgs.
+-----------------------+
| Flight Controller |
| (PX4 Firmware) |
+-----------+-----------+
^
| MAVLink (UART/TCP)
v
+-----------+-------------------------------------------------------+
| Onboard Computer (ROS 2 Environment) |
| |
| +--------------+ ROS 2 +-------------------+ |
| | mavlink_node | <===================> | px4ctrl | |
| +--------------+ (Odom/Ctrl) +---------+---------+ |
| ^ |
| ROS 2 | |
| +--------------------+ | |
| | custom_controllers | <=========================+ |
| +--------------------+ |
| |
| ............................................................. |
| |
| ZMQ (IPC/TCP) |
| | |
| v |
| +------------------+ |
| | Zmq Proxy Server | |
| | (Current Deployment) |
| +---------+--------+ |
+----------------------------+--------------------------------------+
^
| ZMQ (Network/WiFi)
v
+----------------------------+--------------------------------------+
| Laptop (Client) |
| |
| +------------------+ |
| | px4ctrl_client | |
| +------------------+ |
+-------------------------------------------------------------------+
git clone https://github.com/Luxru/px4ctrl.git
cd px4ctrl
git submodule update --init --recursive
mkdir build && cd build
cmake ..
make -j4
Xu Lu - lux@cqu.edu.cn