PX4 Bridge Handoff¶

Date: 2026-04-17 Workspace: ~/venom_ws/src/venom_vnv

Current Structure¶

The PX4 integration is now organized as a project root under:

driver/venom_px4_bridge/

That project root contains two ROS packages:

driver/venom_px4_bridge/px4_msgs
driver/venom_px4_bridge/venom_px4_bridge

This replaced the earlier flat layout where driver/px4_msgs existed as a top-level submodule and driver/venom_px4_bridge was only a single ROS package root.

Why The Structure Changed¶

The user requested that PX4 support be maintained as one deeper subproject instead of two separate top-level pieces.

The resulting structure keeps:

vendored official px4_msgs
VNV-owned bridge implementation
version constraints and deployment docs

inside one project boundary.

Canonical Project Docs¶

Use these files as the current source of truth:

driver/venom_px4_bridge/README.md
driver/venom_px4_bridge/COMPATIBILITY.md
driver/venom_px4_bridge/docs/deployment.md

Fixed Baseline¶

Ubuntu 22.04
ROS 2 Humble
PX4 firmware line v1.16.x
vendored px4_msgs upstream branch release/1.16
vendored px4_msgs upstream base commit 392e831c1f659429ca83902e66820d7094591410
Micro XRCE-DDS Agent v2.4.3

Current First Slice¶

The first PX4 slice currently includes:

px4_agent_monitor
px4_status_adapter
px4_agent_probe.launch.py

Bridge-level outputs:

/px4_bridge/agent_status
/px4_bridge/state
/px4_bridge/odom
/px4_bridge/health

Still Deferred¶

Not implemented yet:

px4_mode_manager
px4_command_adapter
px4_offboard_test.launch.py
px4_external_pose_bridge