AirSim + PX4 in ROS2: Should I Use MAVROS or Fast DDS?

ROS 1 / ROS 2
1

Hi, I have a project that currently uses Cosys-AirSim with ROS1, PX4, and MAVROS. I’m now migrating to ROS2 and I’m trying to decide on the best approach.

Should I continue using PX4 with MAVROS, likely by incorporating a ROS1-ROS2 bridge (ros1_bridge)? Or would it be better to use PX4 directly with ROS, since PX4 now supports communication via Fast DDS? Does AirSim support PX4 via Fast DDS, or is it limited to MAVLink-based integration?

2

Hi @manudelu
I have ROS2 connected to PX4 via MAVROS and it works just fine without a ros1_bridge.
I have not tried Fast DDS so far.

3

Hi @DRODAR , thanks for the reply!
I managed to get it working with the Micro XRCE-DDS. Just out of interest, did you clone the latest release of MAVROS? Isn’t that only for ROS1?

4

I use GitHub - mavlink/mavros: MAVLink to ROS gateway with proxy for Ground Control Station
Great you got it working!

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