# ROS 1 / ROS 2 **URL:** https://discuss.px4.io/c/ros/38.md [Latest](https://discuss.px4.io/latest.md) · [Categories](https://discuss.px4.io/categories.md) --- ## [About the ROS 1 / ROS 2 category](https://discuss.px4.io/t/about-the-ros-1-ros-2-category/13536)
**Author:** [@rroche](https://discuss.px4.io/u/rroche)\ **Replies:** 0\ **Last updated:** [October 24, 2019, 6:35pm UTC](https://discuss.px4.io/t/about-the-ros-1-ros-2-category/13536 "2019-10-24T18:35:36Z")
This section of our forums is for everything relating to ROS, ROS 2 and, MAVROS. Configuration, Examples, Troubleshooting, Bug fixes, and Support. Feel free to post freely. --- ## [Is there a maintained PX4 × Gazebo × ROS2 compatibility matrix anywhere?](https://discuss.px4.io/t/is-there-a-maintained-px4-x-gazebo-x-ros2-compatibility-matrix-anywhere/49505)
**Author:** [@Ankits](https://discuss.px4.io/u/Ankits)\ **Replies:** 1\ **Last updated:** [October 19, 2026, 5:36am UTC](https://discuss.px4.io/t/is-there-a-maintained-px4-x-gazebo-x-ros2-compatibility-matrix-anywhere/49505 "2026-10-19T05:36:20Z")
Hello everyone, I came across the McGuire/Dronecode simulation survey from December 2025, where version-compatibility issues were flagged as one of the most common frustrations in the community — breaking changes betwee… --- ## [Unable to build ROS 2 workspace due to missing px4\_msgs dependency](https://discuss.px4.io/t/unable-to-build-ros-2-workspace-due-to-missing-px4-msgs-dependency/49565)
**Author:** [@jaja7](https://discuss.px4.io/u/jaja7)\ **Replies:** 4\ **Last updated:** [October 2, 2026, 8:51am UTC](https://discuss.px4.io/t/unable-to-build-ros-2-workspace-due-to-missing-px4-msgs-dependency/49565 "2026-10-02T08:51:37Z")
I am working on building a PX4-ROS2-Gazebo-YOLOv8 software stack from source. During this process, I am attempting to build a ROS 2 workspace as follows: mkdir -p ./ws\_sensor\_combined/src/ cd ./ws\_sensor\_combined/src/ g… --- ## [Announcing FastSwarmSim: PX4-Compatible Multi-UAV Simulation with ROS 2 Lock-Step Time](https://discuss.px4.io/t/announcing-fastswarmsim-px4-compatible-multi-uav-simulation-with-ros-2-lock-step-time/49394)
**Author:** [@shupx](https://discuss.px4.io/u/shupx)\ **Replies:** 1\ **Last updated:** [August 26, 2026, 10:04pm UTC](https://discuss.px4.io/t/announcing-fastswarmsim-px4-compatible-multi-uav-simulation-with-ros-2-lock-step-time/49394 "2026-08-26T22:04:36Z")
Hello PX4 community, I would like to introduce FastSwarmSim, an open-source, lightweight multi-UAV ROS2 simulator for PX4-compatible vehicles: GitHub: GitHub - shupx/FastSwarmSim: lightweight multi-drone simulator · G… --- ## [Simulation for Amphibious Drone](https://discuss.px4.io/t/simulation-for-amphibious-drone/49360)
**Author:** [@ADITYA08-a](https://discuss.px4.io/u/ADITYA08-a)\ **Replies:** 0\ **Last updated:** [August 12, 2026, 12:48pm UTC](https://discuss.px4.io/t/simulation-for-amphibious-drone/49360 "2026-08-12T12:48:15Z")
I want to create a hybrid aerial underwater drone. But first, I want to be able to simulate it. Is there any way to simulate it in ROS2. I am aware that the aerial and underwater robots can be seperately simulated,but is… --- ## [ROS2 Offboard - Transitioning from Position to Acceleration Setpoints](https://discuss.px4.io/t/ros2-offboard-transitioning-from-position-to-acceleration-setpoints/44552)
**Author:** [@jmltorch](https://discuss.px4.io/u/jmltorch)\ **Replies:** 6\ **Last updated:** [July 16, 2026, 5:43pm UTC](https://discuss.px4.io/t/ros2-offboard-transitioning-from-position-to-acceleration-setpoints/44552 "2026-07-16T17:43:58Z")
Hello. I’m implementing a ROS2 offboard control package to fly a dev drone running PX4 (v1.14). I have it set up so that I publish offboard\_control\_mode messages with the position flag set true and publish trajectory\_s… --- ## [Classic problem using gz\_ros\_bridge](https://discuss.px4.io/t/classic-problem-using-gz-ros-bridge/47199)
**Author:** [@Vaderplayz](https://discuss.px4.io/u/Vaderplayz)\ **Replies:** 2\ **Last updated:** [May 27, 2026, 1:38am UTC](https://discuss.px4.io/t/classic-problem-using-gz-ros-bridge/47199 "2026-05-27T01:38:33Z")
UBUNTU 22.04 GZ SIM 8.9.0 PX4 Hi everyone, Im facing a problem when trying to get the camera feed from gazebo similation of PX4 SITL to ros2 for apriltag detection. Everything work nicely on GZ but when I activate th… --- ## [Rclgo v0.5.0 + v0.6.0 — Environment Variable Parameters, Realtime Logging, and ROS 2 Jazzy](https://discuss.px4.io/t/rclgo-v0-5-0-v0-6-0-environment-variable-parameters-realtime-logging-and-ros-2-jazzy/48932)
**Author:** [@David\_Patton](https://discuss.px4.io/u/David_Patton)\ **Replies:** 0\ **Last updated:** [May 9, 2026, 6:47pm UTC](https://discuss.px4.io/t/rclgo-v0-5-0-v0-6-0-environment-variable-parameters-realtime-logging-and-ros-2-jazzy/48932 "2026-05-09T18:47:18Z")
Hey Dronecode community, Two releases to catch up on for rclgo, a Go client library for ROS 2. We’ve been using it to build SwarmOS nodes that run alongside PX4 via DDS. Last post covered v0.4.1 — here’s what’s shipped… --- ## [Publishing rate of /fmu/out/sensor\_combined](https://discuss.px4.io/t/publishing-rate-of-fmu-out-sensor-combined/48595)
**Author:** [@bslabev](https://discuss.px4.io/u/bslabev)\ **Replies:** 1\ **Last updated:** [May 4, 2026, 7:26pm UTC](https://discuss.px4.io/t/publishing-rate-of-fmu-out-sensor-combined/48595 "2026-05-04T19:26:42Z")
Hello! I want to use the IMU-data of my pixhawk4. I successfully set up a UXRCE-client/agent bridge over the telem1 port on the pixhawk. However, the publishing rate is approx. 100Hz and I want to increase it as much as … --- ## [Providing Autonomous Flight to drone](https://discuss.px4.io/t/providing-autonomous-flight-to-drone/45310)
**Author:** [@Pratik\_Wagh](https://discuss.px4.io/u/Pratik_Wagh)\ **Replies:** 6\ **Last updated:** [April 15, 2026, 2:50pm UTC](https://discuss.px4.io/t/providing-autonomous-flight-to-drone/45310 "2026-04-15T14:50:42Z")
so i am trying to achieve a autonomous flight for my drone in gps denied environment i am using pixhawk 2.4.8 depth camera d435i ubuntu 22.04 px4 firmware ros2 humble mavros --- ## [How to do vtol transition in offboard mode with ros2](https://discuss.px4.io/t/how-to-do-vtol-transition-in-offboard-mode-with-ros2/28584)
**Author:** [@Ege\_Alsan](https://discuss.px4.io/u/Ege_Alsan)\ **Replies:** 3\ **Last updated:** [March 8, 2026, 9:55am UTC](https://discuss.px4.io/t/how-to-do-vtol-transition-in-offboard-mode-with-ros2/28584 "2026-03-08T09:55:49Z")
Hello I need to use vtol transition in my offboard script but I dont know how to do a vtol transition in offboard script for ros2. I read about a discussion about it but it was old and for mavros. They suggested to write… --- ## [LiDAR scan visible in base\_link frame but not in odom and map frame integrated into map/odom in SLAM Toolbox (PX4 SITL + ROS2 Rolling + MAVROS)](https://discuss.px4.io/t/lidar-scan-visible-in-base-link-frame-but-not-in-odom-and-map-frame-integrated-into-map-odom-in-slam-toolbox-px4-sitl-ros2-rolling-mavros/48458)
**Author:** [@Vaderplayz](https://discuss.px4.io/u/Vaderplayz)\ **Replies:** 3\ **Last updated:** [February 9, 2026, 4:23pm UTC](https://discuss.px4.io/t/lidar-scan-visible-in-base-link-frame-but-not-in-odom-and-map-frame-integrated-into-map-odom-in-slam-toolbox-px4-sitl-ros2-rolling-mavros/48458 "2026-02-09T16:23:45Z")
Hi everyone, I’m running a PX4 SITL simulation with ROS2 Noble and trying to perform 2D mapping using SLAM Toolbox. Most components seem to work, but the LiDAR scan is not being integrated into the map or odometry. Sys… --- ## [Adding time-varying wind effects](https://discuss.px4.io/t/adding-time-varying-wind-effects/48257)
**Author:** [@MANISH\_PATEL](https://discuss.px4.io/u/MANISH_PATEL)\ **Replies:** 0\ **Last updated:** [January 7, 2026, 11:10am UTC](https://discuss.px4.io/t/adding-time-varying-wind-effects/48257 "2026-01-07T11:10:21Z")
In the windy.sdf file (Tools/simulation/gz/worlds), we can change linear velocity of the wind using \ \5 2 0\ \ What attributes can be used for simulating time-varying … --- ## [ROS2 Offboard on Hardware](https://discuss.px4.io/t/ros2-offboard-on-hardware/26338)
**Author:** [@REGATTE](https://discuss.px4.io/u/REGATTE)\ **Replies:** 3\ **Last updated:** [December 27, 2025, 6:33pm UTC](https://discuss.px4.io/t/ros2-offboard-on-hardware/26338 "2025-12-27T18:33:21Z")
Hi, I’ve been working with ROS2 for a while with PX4, have all my apps built w.r.t RTPS bridge and the SITL, is working fine. I want to test it on a real drone with a Pixhawk 5x(holybro) and Nvidia Jetson Nano. I unders… --- ## [Inquiry About Integrating Manual Flight Missions with ROS2/NAV2 for Autonomous Flight](https://discuss.px4.io/t/inquiry-about-integrating-manual-flight-missions-with-ros2-nav2-for-autonomous-flight/48154)
**Author:** [@mcayci](https://discuss.px4.io/u/mcayci)\ **Replies:** 0\ **Last updated:** [December 18, 2025, 8:26pm UTC](https://discuss.px4.io/t/inquiry-about-integrating-manual-flight-missions-with-ros2-nav2-for-autonomous-flight/48154 "2025-12-18T20:26:27Z")
Dear PX4 Community, I hope this message finds you well. I am currently exploring the integration of manual flight missions captured with a flight controller and would like to understand if these missions can be utilized… --- ## [Looking for a Nav2-equivalent library (UGV) for multi-UAV mission management (state machine / behavior tree)](https://discuss.px4.io/t/looking-for-a-nav2-equivalent-library-ugv-for-multi-uav-mission-management-state-machine-behavior-tree/46745)
**Author:** [@flyingpafnouti](https://discuss.px4.io/u/flyingpafnouti)\ **Replies:** 1\ **Last updated:** [November 25, 2025, 8:35pm UTC](https://discuss.px4.io/t/looking-for-a-nav2-equivalent-library-ugv-for-multi-uav-mission-management-state-machine-behavior-tree/46745 "2025-11-25T20:35:09Z")
Hello everyone, I’m currently developing a multi-UAV coordination application on PX4 and I’m looking for a software solution to plan and execute missions across several drones. On the UGV side, I’m used to working with … --- ## [Guidance on Enabling Forward-Only x-axis Motion for UAV (ROS)](https://discuss.px4.io/t/guidance-on-enabling-forward-only-x-axis-motion-for-uav-ros/47952)
**Author:** [@mcayci](https://discuss.px4.io/u/mcayci)\ **Replies:** 1\ **Last updated:** [November 24, 2025, 9:01pm UTC](https://discuss.px4.io/t/guidance-on-enabling-forward-only-x-axis-motion-for-uav-ros/47952 "2025-11-24T21:01:14Z")
Dear Community, I’m seeking advice on configuring a UAV so it translates only along the forward x-axis, without lateral y-axis motion, while retaining the ability to yaw. Specifically: Control strategy to achieve fo… --- ## [Unstable RC Position Flight using ROS2 VIO](https://discuss.px4.io/t/unstable-rc-position-flight-using-ros2-vio/47811)
**Author:** [@crazy-robotics](https://discuss.px4.io/u/crazy-robotics)\ **Replies:** 0\ **Last updated:** [November 3, 2025, 1:57pm UTC](https://discuss.px4.io/t/unstable-rc-position-flight-using-ros2-vio/47811 "2025-11-03T13:57:51Z")
Goal Use external visual odometry for stable position flight (via RC) indoors. Setup Computer / OS: Jetson Orin NX (ROS 2 Humble) Autopilot / FW: CUAV X7+ Pro running PX4 v1.16.0rc External pose source: 3D SLA… --- ## [Issues Running ROS2-PX4](https://discuss.px4.io/t/issues-running-ros2-px4/28400)
**Author:** [@asaif](https://discuss.px4.io/u/asaif)\ **Replies:** 25\ **Last updated:** [October 23, 2025, 1:29pm UTC](https://discuss.px4.io/t/issues-running-ros2-px4/28400 "2025-10-23T13:29:38Z")
Hello everybody, I’e been following the guide to setup up PX4-ROS 2 bridge here: ROS 2 User Guide (PX4-ROS 2 Bridge) | PX4 User Guide . I’m able to successfully run “make px4\_sitl\_rtps gazebo”, however when I try to la… --- ## [Cannot switch to offboard with mavros](https://discuss.px4.io/t/cannot-switch-to-offboard-with-mavros/47709)
**Author:** [@robin\_drone1](https://discuss.px4.io/u/robin_drone1)\ **Replies:** 0\ **Last updated:** [October 22, 2025, 9:40am UTC](https://discuss.px4.io/t/cannot-switch-to-offboard-with-mavros/47709 "2025-10-22T09:40:17Z")
Hi Guys, my quadrotor of PX4 suddenly cannot switch to offboard as it could before. I am using a Vicon system to provide pose estimation by publishing to mavros/vision\_pose/pose. However, it just says Switching to Offbo… --- ## [Need some help to use local position from ROS2](https://discuss.px4.io/t/need-some-help-to-use-local-position-from-ros2/47558)
**Author:** [@Anders\_Gnistrup](https://discuss.px4.io/u/Anders_Gnistrup)\ **Replies:** 4\ **Last updated:** [October 22, 2025, 6:43am UTC](https://discuss.px4.io/t/need-some-help-to-use-local-position-from-ros2/47558 "2025-10-22T06:43:05Z")
Hi all I have trying to add a slam camera to a pixhawk 6C via ROS2 using the px4\_ros2::LocalPositionMeasurementInterface but it does not work as expected. For simplicity I have start using the simulator gazabo and more … --- ## [Mavros obstacle distance for collision prevention](https://discuss.px4.io/t/mavros-obstacle-distance-for-collision-prevention/25158)
**Author:** [@MatCa](https://discuss.px4.io/u/MatCa)\ **Replies:** 3\ **Last updated:** [October 17, 2025, 4:52am UTC](https://discuss.px4.io/t/mavros-obstacle-distance-for-collision-prevention/25158 "2025-10-17T04:52:22Z")
Hello, I’m trying to test collision prevention by publishing fake LaserScan messages on /mavros/obstacle/send. I’m using PX4 SITL Gazebo to test the drone behaviour. My message is received as I can see an OBSTACLE\_DIST… --- ## [Title: TOF Sensor Integration Issues - Altitude Instability and Oscillations](https://discuss.px4.io/t/title-tof-sensor-integration-issues-altitude-instability-and-oscillations/47529)
**Author:** [@naorwaiss](https://discuss.px4.io/u/naorwaiss)\ **Replies:** 0\ **Last updated:** [September 27, 2025, 12:55pm UTC](https://discuss.px4.io/t/title-tof-sensor-integration-issues-altitude-instability-and-oscillations/47529 "2025-09-27T12:55:01Z")
Hello everyone, I’m trying to integrate a TOF (Time of Flight) sensor with my drone. I’m publishing distance data to the DistanceSensor topic using DDS, where I send the average distance readings from the sensor. Howev… --- ## [New RclGo Version](https://discuss.px4.io/t/new-rclgo-version/47516)
**Author:** [@David\_Patton](https://discuss.px4.io/u/David_Patton)\ **Replies:** 0\ **Last updated:** [September 26, 2025, 6:46pm UTC](https://discuss.px4.io/t/new-rclgo-version/47516 "2025-09-26T18:46:36Z")
Im happy to announce that I have been working on rclGo with the goal of having feature parity with rclcpp and rclpy. This picks up the great work previously done by Technology Innovation Institute. To date I have added… --- ## [Reason of disabling /fmu/out/vehicle\_angular\_velocity](https://discuss.px4.io/t/reason-of-disabling-fmu-out-vehicle-angular-velocity/47503)
**Author:** [@robin\_drone1](https://discuss.px4.io/u/robin_drone1)\ **Replies:** 0\ **Last updated:** [September 25, 2025, 3:08pm UTC](https://discuss.px4.io/t/reason-of-disabling-fmu-out-vehicle-angular-velocity/47503 "2025-09-25T15:08:01Z")
Hi, I am running PX4 STIL (v1.15.4) with ROS2 Humble. However, I found the optic \`topic: /fmu/out/vehicle\_angular\_velocity\` is disabled by default. May I ask why? --- ## [Gazebo sim speed-up](https://discuss.px4.io/t/gazebo-sim-speed-up/47475)
**Author:** [@bhowmiktanumaya](https://discuss.px4.io/u/bhowmiktanumaya)\ **Replies:** 0\ **Last updated:** [September 22, 2025, 2:03pm UTC](https://discuss.px4.io/t/gazebo-sim-speed-up/47475 "2025-09-22T14:03:59Z")
Is there a guide somewhere for speeding up my px4\_sitl Gazebo sim? Ideally I would like the sensor data and sim environment frequency to be in lockstep even at high speed. What is the current practice for fast simulati… --- ## [Gazebo configuration file for px4\_sitl](https://discuss.px4.io/t/gazebo-configuration-file-for-px4-sitl/47474)
**Author:** [@bhowmiktanumaya](https://discuss.px4.io/u/bhowmiktanumaya)\ **Replies:** 0\ **Last updated:** [September 22, 2025, 1:59pm UTC](https://discuss.px4.io/t/gazebo-configuration-file-for-px4-sitl/47474 "2025-09-22T13:59:00Z")
I keep having to open the Image Display, Follow my drone object from the entity tree. I would also like to open the sim in dark mode since that’s already available Is there a configuration file I can update to customize… --- ## [Error While building DDS Agent](https://discuss.px4.io/t/error-while-building-dds-agent/47446)
**Author:** [@bhowmiktanumaya](https://discuss.px4.io/u/bhowmiktanumaya)\ **Replies:** 1\ **Last updated:** [September 21, 2025, 8:54pm UTC](https://discuss.px4.io/t/error-while-building-dds-agent/47446 "2025-09-21T20:54:06Z")
I am following the PX4 ROS2 User Guide and running make on git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git I am encountering a Git reference problem \[ 41%\] Performing test step for 'fastcdr' \[ … --- ## [Why is My ROS2 /scan Topic Not Publishing Any Messages? SLAM Toolbox Lifecycle Fails, Python Subscriber Inactive](https://discuss.px4.io/t/why-is-my-ros2-scan-topic-not-publishing-any-messages-slam-toolbox-lifecycle-fails-python-subscriber-inactive/47421)
**Author:** [@GijunMoon](https://discuss.px4.io/u/GijunMoon)\ **Replies:** 0\ **Last updated:** [September 15, 2025, 5:00pm UTC](https://discuss.px4.io/t/why-is-my-ros2-scan-topic-not-publishing-any-messages-slam-toolbox-lifecycle-fails-python-subscriber-inactive/47421 "2025-09-15T17:00:40Z")
Hello, I am working with PX4 SITL, Gazebo Harmonic, and ROS2 Humble, bridging LiDAR data from Gazebo to ROS2 using ros\_gz\_bridge. The /scan topic appears in ros2 topic list, but there are no messages arriving on /scan—n… --- ## [Wireless uXRCE-DDS?](https://discuss.px4.io/t/wireless-uxrce-dds/47348)
**Author:** [@pelotonlopezmuro](https://discuss.px4.io/u/pelotonlopezmuro)\ **Replies:** 1\ **Last updated:** [September 11, 2025, 6:26am UTC](https://discuss.px4.io/t/wireless-uxrce-dds/47348 "2025-09-11T06:26:13Z")
Hi! I’m using ROS2 with the uXRCE-DDS client to communicate with the Pixhawk through a USB-to-TTL serial adapter. I wonder if there is a way to set up this communication wirelessly instead? Thanks! [Next page](https://discuss.px4.io/c/ros/38.md?page=1)