PX4 Dev Call: December 14, 2022

Coordination Calls PX4 Autopilot
1

December 14, 2022

Join us

Please join in the Discord voice channel ‘General’ :sound:

Agenda

  • Community Announcement
  • Community Q&A
  • Project Updates
  • General Discussions
  • Weekly Overview
  • High priority queue
  • Release

:loudspeaker: Community Announcement

:tada::santa: Holiday Break

No meeting on December 28th

:people_holding_hands: Community Q&A (No deep technical discussions)

:exclamation: Guideline for asking a Question

  1. Specify what you are trying to achieve
  2. Specify what environment / platform you are using
  3. Prepare a Link or Document to help understand if possible
  4. First, ask the question on the Slack or create a Github Issue!
  5. If you take over 5 minutes for the question, please continue in Slack or a Github Issue.

Q.1 : ROS2 Messaging best practice - Theo

For my PhD thesis, I need to simulate a network of UAVs (mostly quadcopters, but can be heterogeneous) in order to improve exchange of heavy data without impacting controls of the fleet (e.g. video dissemination).

Goal: Controlling fleet of drones

SW: I plan to build a simulator based on Gazebo for physics and NS3 for network protocols simulation. ROS2 will help me move towards real-world experiments swiftly (SITL → HITL → IRL). I work on Ubuntu 22.04 (ROS2 Humble), ideally I would like to containerize my simulator to have easy portability to servers.

HW:

  • 4 x Holybro PX4 Vision
  • No mission computer onboard the drone

Questions :

I tested the new messaging scheme, based on FastDDS between ROS2 and PX4, but also read that “Fast DDS is not intended to replace MAVLink”, and notice that the MAVROS library is not regularly maintained.

What is the recommended messaging system : MAVLink vs FastDDS ?

Answer: Using MAVLink will be better.

If I choose MAVLink, is it recommended to use MAVROS Library with ROS2 ?

Answer: If using ROS2, micro-DDS can be used. But using it over a lossy network can be unstable.

Q.2 : Fixed wing rate control module

  • Jenkins keeps failing
  • Still out of flash

Action Items:

  • Thomas will give a review

:construction_worker_woman: Project Updates

P.1 : RC Paramotor project :parachute: - Junwoo

Manual control at this stage, will put PX4 on it on Thursday

:thinking: General Discussions

D.1 :

:calendar: Weekly Overview

:mouse2: Github

Recently updated Issues / PRs in PX4-Autopilot Link

Pull Requests
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Issues
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:computer: Discord

:phone: Last Dev-Call

PX4 Dev Call: December 07, 2022

:exclamation: High priority queue

Discussion based on: High-Priority Queue · GitHub

:ear_of_rice: Release