How to implement onboard workflow with PX4 version 1.16.0?

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Hi,

I am trying to build onboard algorithm with px4 version 1.16. But I see that PX4 has removed the onboard workflow and removed the VehicleTrajectoryWaypoint.msg and TrajectoryWaypoint.msg in v1.16.0 which was required for onboard communication to work.

Can anyone please guide me on this if px4 has created any alternative workflow to support onboard for path planning and obstacle avoidance kind of application?

Thanks,

Sayan

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Here is the pull request which removed it giving some context: Removed Functionality: Remove collision avoidance interface on PX4 side by sfuhrer · Pull Request #24172 · PX4/PX4-Autopilot · GitHub

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Thanks @JulianOes for the PR link. I understand the reason of removing the avoidance library. However, I am not sure on the alternative way to achieve the onboard workflow with this. Can you please direct me to the doc or something similar mentioning the new workflow?

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The comment says using “external flight modes” so this would be an external flight mode implemented on the ROS 2 side as far as I understand, but yeah I’d be curious too if there was an example that shows how this can be done.

Maybe @sfuhrer has some hints?

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We don’t have a avoidance example with the external flight modes, but here are some basic examples here. A lot for avoidance is use case dependent.

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Hi @sfuhrer , Thanks for replying! Then, is this fair to say that we need to use the ROS 2 based workflow only for implementing any avoidance algorithm with PX4 that will run on onboard computer like NVDIA Jetson to control px4 by providing modified waypoints from onboard computer in offboard control mode?

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Yes you’ll need a companion computer with ROS2.

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