px-ros-pkg for ROS2

Description

Original code from: http://wiki.ros.org/px4flow_node

A repository for PIXHAWK open source code running on ROS. There was no ROS2 implementation of the px4flow_node and the official repository seems to be dead. Hence, I ported it to ROS 2.

Supported Platforms

Tested on Ubuntu 22.04 with ROS Humble. Other ROS2 distributions and Ubuntu releases might work.

Prerequisites:

• Boost library: sudo apt install libboost-dev
• Eigen3: sudo apt install libeigen3-dev
• ROS Humble (or others): https://docs.ros.org/en/humble/Installation.html

Installation:

Put the whole folder into your ROS workspace and run
colcon build && . install/setup.bash

Preferably, add this repository as a submodule:
git submodule add -b main https://github.com/masskro0/px4flow_node_ros2 src/px4flow_node

Usage:

First, connect your px4flow sensor and then either launch the mavlink_serial_client:
ros2 launch mavlink_serial_client mavlink_launch.py

or the px4flow node:
ros2 launch px4flow px4flow_launch.py

Both nodes use messages from the px_comm folder. Also, you can modify configuration parameters of both nodes in drivers/<pkg>/config/default.yaml