Using ROS 2 on VOXL 2

[mzahana]

Re: voxl2-mpa-to-ros2

Hi !
I am new to the VOXL 2 product, and I need to use ROS 2 on it. I have the following requirements, and I would be grateful if you can give some directions.

1. I am using PX4 1.14beta firmware and it comes with xrce DDS client to interface to ROS 2. Is PX4 v1.14 supported by VOXL 2, or at least v1.13?

2. How can I use ROS 2 humble on VOXL 2? Using Docker? What are the instructions to use/build an Ubuntu 22 image with ROS 2 humble?

3. How can I access the camera(s) as ROS 2 topics?

4. How can I send the vio data to PX4? I usually would send it through a topic in ROS 2, /fmu/in/vehicle_visual_odometry

I feel the documentation has scattered information and incomplete in many places. So, I appreciate if you provide some support here.

Thank you.

[Chad Sweet]

We have not implemented that, you will likely need to implement that yourself. We are happy to incorporate any ros 2 improvements you have

[mzahana]

@Chad-Sweet Thanks for replying?

Could you please provide an answer for the asked 4 points?

What exactly needs to implemented ?

Where to start ?

I appreciate if you can elaborate more.

Thank you.