Mavros: ROS2: Overview what deps needed to start porting

Here goes 1000 issues!!

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

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.

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

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?

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

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

@AlexisTM that's already an ongoing work yes.

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

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)

Looking for ROS2 also.

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

There's no effort to port to ROS2 atm.

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