Hi! I am working on a project that uses ROS2 talking with PX4 code via the microRTPS bridge. I am hoping to be able to use my ROS2 nodes in conjunction with the Control Allocation module. However, I am not sure how to get PX4 to use both the microRTPS bridge and control allocation.
When I run
make list_config_targets | grep ctrlalloc, I only see:
So, it looks like there isn’t a target to use both control allocation and RTPS protocol. If this is correct, could someone help me with knowing how to started in adding this capability?