# px4_msgs

**Repository Path**: cyclelist/px4_msgs

## Basic Information

- **Project Name**: px4_msgs
- **Description**: ROS/ROS2 messages that match the uORB messages counterparts on the PX4 Firmware
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-11-05
- **Last Updated**: 2021-11-05

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# px4_msgs

[![GitHub license](https://img.shields.io/github/license/PX4/px4_msgs.svg)](https://github.com/PX4/px4_msg/blob/master/LICENSE) [![Build package](https://github.com/PX4/px4_msgs/workflows/Build%20package/badge.svg)](https://github.com/PX4/px4_msgs/actions)

This package contains the ROS2 message definitions of the [PX4 Pro ecosystem](https://px4.io/). Building this package generates all the required interfaces to interface ROS2 nodes with the PX4 autopilot internals, which use the [uORB messaging API](https://dev.px4.io/en/middleware/uorb.html). Currently the messages of this package represent a dependency to [`px4_ros_com` package](https://github.com/PX4/px4_ros_com).

## uORB message definitions

The uORB message definitions, which represent the counter-part of the ROS2 messages found in this package, can be found on the [PX4 Firmware repository](https://github.com/PX4/Firmware).

## How are these messsage definitions generated?

When uORB message definitions in the [PX4 firmware](https://github.com/PX4/Firmware) repository change, a CI/CD pipeline automatically generates and pushes updated ROS message definitions to this repository. The ROS message definitions are generated by the [`uorb_to_ros_msgs.py`](https://github.com/PX4/Firmware/blob/master/msg/tools/uorb_to_ros_msgs.py) script. One can also use this script to generate its own ROS message definitions for new or modified uORB messages.

## Install, build and usage

Check the [`Ament` tutorial](https://index.ros.org/doc/ros2/Tutorials/Ament-Tutorial/) to understand how this can be built inside a worspace. Check the [RTPS/ROS2 Interface](https://dev.px4.io/en/middleware/micrortps.html) section on the PX4 Devguide for further details on how this integrates with the [`px4_ros_com` package](https://github.com/PX4/px4_ros_com).

## Bug tracking and feature requests

Use the [Issues](https://github.com/PX4/px4_msgs/issues) section to create a new issue. Report your issue or feature request [here](https://github.com/PX4/px4_msgs/issues/new).

## Questions and troubleshooting

Reach the PX4 development team on the `#messaging` PX4 Slack channel:
[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)