ROS2 / DDS on v1.14 beta release discussion

📞 Coordination Calls
1

About

As discussed in PX4 Maintainers Call: March 28, 2023, a separate discussion to discuss the ROS2 / DDS integration to the upcoming v1.14 release will take place.

Time: Thursday, March 30th, 5pm CET
Place: PX4-Maintainers Discord Voice Channel: Discord

Participants: (more guests are welcome!)

NOTE: Anyone can edit this post (It’s a Wiki), so please add new agendas & edit meeting notes!

Agendas

  1. [dds] DDS documentation & User workflow testing · Issue #21383 · PX4/PX4-Autopilot · GitHub
  2. [dds] Final micrortps cleanup before v1.14.0 release · Issue #2345 · PX4/PX4-user_guide · GitHub
  3. [dds] rcS-posix: improve microdds_client startup by beniaminopozzan · Pull Request #21375 · PX4/PX4-Autopilot · GitHub
  4. Naming convention (e.g. QGC Parameter naming: XRCE? Micro XRCE? DDS?)

Discussion

  1. ROS 1 via ROS 2 bridge, is it something that we want to keep supporting? (Benja)

  2. MAVROS supports ROS 2. But by reading the docs the first impression is

    • MAVROS → ROS 1
    • XRCE-DDS → ROS 2

    How to clarify everything? (Benja)

  3. microRTPS for v1.13, does it make sense to update it to be supported in ROS 2 Humble? (Benja)