PX4 Bridge
venom_px4_bridge — PX4 integration project root, with vendored px4_msgs and the VNV bridge package.
Module Role
driver/venom_px4_bridge is not a single ROS package. It is the PX4 integration project root inside VNV.
It currently contains:
px4_msgs/: vendored PX4 ROS 2 message definitionsvenom_px4_bridge/: the VNV-owned bridge package
The goal is to keep PX4 message pinning, DDS probing, and state translation inside the bridge layer instead of leaking raw PX4 details upward.
Current Scope
The first slice currently includes:
px4_agent_monitorpx4_status_adapterpx4_agent_probe.launch.py
Current bridge outputs:
/px4_bridge/agent_status/px4_bridge/state/px4_bridge/odom/px4_bridge/health
Recommended Entry
For a basic DDS Agent and PX4 link check:
cd ~/venom_ws
source install/setup.bash
ros2 launch venom_bringup px4_agent_probe.launch.py
For a focused build of PX4-related packages:
source /opt/ros/humble/setup.bash
cd ~/venom_ws
colcon build --symlink-install --packages-up-to px4_msgs venom_px4_bridge venom_bringup
Why This Is a Project Root
This layout isolates:
- upstream
px4_msgsversion changes - DDS Agent probing and availability checks
- VNV-owned bridge interfaces
Upper layers should depend on the bridge-facing outputs, not raw PX4 topic details.