PX4 Developer Summit 2021

While the task of integrating PX4 into the DDS world has been dealt with by means of the micro-RTPS bridge so far, the present proposal hinges on the need for a more mature, flexible and secure interface with DDS that would be carried out by, first, micro XRCE-DDS, an then by micro-ROS, and can be seen as a natural extension of the work done so far over the micro-RTPS bridge. micro-ROS is a Robot Operating System specifically tailored for embedded and resource-constrained platforms, such as MCUs. It promotes these to the ROS 2 world, and uses as a middleware eProsima Micro XRCE-DDS, that is, DDS for eXtremely Resource-Constrained Environments, a software solution allowing the integration of microcontrollers into the DDS world. As an extension of the last talk at last year's summit, where Nuno and Jaime (eProsima’s CEO) presented a general overview of what would be required to do the migration from the micro-RTPS bridge to micro-ROS, this time, we will now go in-depth on the core concepts and technical details behind the migration from the current micro-RTPS implementation to having a micro-ROS capable PX4 ecosystem. Note: We request that, in case of acceptance, that this call is scheduled to the 15th of September, by impossibility of presenting it Tuesday the 14th.