Running MAVROS and building other ROS nodes

[kiprock]

Hello, I see another thread on this from Jan, but it didn't answer my question exactly.

I see from the documentation that MAVROS must run in the roskinetic-xenial docker. However, the instructions for building other ROS nodes seem to imply that you build for the natively installed indigo ROS.

Is the expectation that if I build something (like PX4 avoidance) for Indigo, both would have to run at the same time?

[A Former User]

Hi @kiprock , I am not sure if this will answer your question but here it is:

So, you can build your ROS node in either of them (in Docker or In Yocto) and let them communicate over one ROS Master. Depending on the application, you might need to run ROS nodes in both platforms at the same time.

For instance, I am running voxl-mpa-node in Yocto and MAVROS with other custom nodes in Docker at same time so that they exchange data(camera frames).

I believe building in Docker is similar to a normal Linux platform. Hence, it might be easier than building in Yocto.

[kiprock]

@Voxlady Thanks for the clarification I'll report my findings here.