{"id":20164826,"url":"https://github.com/px4/px4_msgs","last_synced_at":"2025-10-18T02:02:45.036Z","repository":{"id":37295956,"uuid":"166811016","full_name":"PX4/px4_msgs","owner":"PX4","description":"ROS/ROS2 messages that match the uORB messages counterparts on the PX4 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px4_msgs\n\n[![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)\n\n[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)\n\nROS 2 message definitions for the [PX4 Autopilot](https://px4.io/) project.\n\nBuilding this package generates all the required interfaces to interface ROS 2 nodes with the PX4 internals.\n\n## Supported versions and compatibility\n\nDepending on the PX4 and ROS versions you want to use, you need to checkout the appropriate branch of this package:\n\n| PX4            | ROS 2   | Ubuntu       | branch                                                            |\n|----------------|---------|--------------|-------------------------------------------------------------------|\n| [v1.13](https://github.com/PX4/px4_msgs/tree/release/1.13)           | Foxy    | Ubuntu 20.04 | [release/1.13](https://github.com/PX4/px4_msgs/tree/release/1.13) |\n| [v1.14](https://github.com/PX4/px4_msgs/tree/release/1.14)           | Foxy    | Ubuntu 20.04 | [release/1.14](https://github.com/PX4/px4_msgs/tree/release/1.14) |\n| [v1.14](https://github.com/PX4/px4_msgs/tree/release/1.14)           | Humble  | Ubuntu 22.04 | [release/1.14](https://github.com/PX4/px4_msgs/tree/release/1.14) |\n| [v1.14](https://github.com/PX4/px4_msgs/tree/release/1.14)           | Rolling | Ubuntu 22.04 | [release/1.14](https://github.com/PX4/px4_msgs/tree/release/1.14) |\n| [v1.15](https://github.com/PX4/px4_msgs/tree/release/1.15)           | Foxy    | Ubuntu 20.04 | [release/1.15](https://github.com/PX4/px4_msgs/tree/release/1.15) |\n| [v1.15](https://github.com/PX4/px4_msgs/tree/release/1.15)           | Humble  | Ubuntu 22.04 | [release/1.15](https://github.com/PX4/px4_msgs/tree/release/1.15) |\n| [v1.15](https://github.com/PX4/px4_msgs/tree/release/1.15)           | Rolling | Ubuntu 22.04 | [release/1.15](https://github.com/PX4/px4_msgs/tree/release/1.15) |\n| [main](https://github.com/PX4/px4_msgs/tree/main)                    | Foxy    | Ubuntu 22.04 | [main](https://github.com/PX4/px4_msgs)                           |\n| [main](https://github.com/PX4/px4_msgs/tree/main)                    | Humble  | Ubuntu 22.04 | [main](https://github.com/PX4/px4_msgs)                           |\n| [main](https://github.com/PX4/px4_msgs/tree/main)                    | Rolling | Ubuntu 22.04 | [main](https://github.com/PX4/px4_msgs)                           |\n\n### Messages Sync from PX4\n\nWhen PX4 message definitions in the `main` branch of [PX4 Autopilot](https://github.com/PX4/PX4-Autopilot) change, a [CI/CD pipeline](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/metadata.yml#L119) automatically copies and pushes updated ROS message definitions to this repository. This ensures that this repository `main` branch and the PX4-Autopilot `main` branch are always up to date.\nHowever, if you are using a custom PX4 version and you modified existing messages or created new one, then you have to manually synchronize them in this repository:\n### Manual Message Sync\n\n- Checkout the correct branch associated to the PX4 version from which you detached you custom version.\n- Delete all `*.msg` and `*.srv` files in `msg/` and  `srv/`.\n- Copy all `*.msg` and  `*.srv` files from `PX4-Autopilot/msg/` and `PX4-Autopilot/srv/` in  `msg/` and  `srv/`, respectively. Assuming that this repository and the PX4-Autopilot repository are placed in your home folder, you can run:\n  ```sh\n  rm -f ~/px4_msgs/msg/*.msg\n  rm -f ~/px4_msgs/srv/*.srv\n  cp ~/PX4-Autopilot/msg/*.msg ~/px4_msgs/msg/\n  cp ~/PX4-Autopilot/msg/versioned/*.msg ~/px4_msgs/msg/\n  cp ~/PX4-Autopilot/srv/*.srv ~/px4_msgs/srv/\n  ```\n**Note:** The ROS 2 message generation pipeline requires all messages to be directly under `msg/` and doesn't support sub-directories.\n\n## Install, build and usage\n\nCheck [Using colcon to build packages](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html#build-a-package) to understand how this can be built inside a workspace. Check the [PX4 ROS 2 User Guide](https://docs.px4.io/main/en/ros/ros2_comm.html) section on the PX4 documentation for further details on how this integrates PX4 and how to exchange messages with the autopilot.\n\n## Bug tracking and feature requests\n\nUse 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).\n\n## Questions and troubleshooting\n\nReach the PX4 development team on the [PX4 Discord Server](https://discord.gg/dronecode).\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpx4%2Fpx4_msgs","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpx4%2Fpx4_msgs","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpx4%2Fpx4_msgs/lists"}