I am very new to all this, so please bear with me.
I am trying to implement a very basic obstacle avoidance using micrortps environment. this is to demonstrate the capabilities of a ros 2 environment for a hardware accelerator.
Existing implementation of avoidance module can not be used because of dependencies issues. (mavros, pcl_ros etc).
it says here to work with micrortps bridge, you need to know about the internals of px4. Where do i find them?
I am looking at the px4_msgs, but there is no documentation for it. What do the fields in the messages mean? for example, suppose in simulation there is a laser sensor connected to px4. What is the associated message?