For PX4 v1.13, connect ROS 2 to PX4 through the microRTPS Bridge: a client runs in PX4 and a microRTPS agent runs on the companion or mission computer. The workflow uses Fast DDS, plus ROS 2 packages whose message definitions match the PX4 firmware. PX4 v1.14 and later use uXRCE-DDS instead, so first confirm the vehicle’s PX4 release.
Which bridge applies to your PX4 version?
Fast RTPS is the older name associated with the Fast DDS implementation used by PX4’s v1.13 microRTPS workflow. Starting with PX4 v1.14, PX4 replaced that bridge with uXRCE-DDS. The two approaches have different client and agent software and setup steps; do not follow a v1.13 microRTPS guide for a newer firmware release.
| PX4 release | Bridge approach | What runs on each side | Transport information |
|---|---|---|---|
| v1.13 | Fast RTPS through the microRTPS Bridge | microRTPS client in PX4; microRTPS agent on the companion or mission computer | UDP or UART-style serial; the documented SITL link uses UDP ports 2019 and 2020 |
| v1.14 and later | uXRCE-DDS | uXRCE-DDS client in PX4; uXRCE-DDS agent on the companion computer | Serial, UDP, TCP, or a custom link, depending on configuration |
These version boundaries describe the PX4 documentation’s bridge transition. Confirm the release actually installed on the HoverGames vehicle before choosing instructions; the vehicle name alone does not determine which bridge it uses.
How the v1.13 microRTPS bridge connects PX4 and ROS 2
The PX4-side client and companion-side agent exchange data and translate between PX4 uORB topics and ROS 2 message types. The ROS workspace uses two packages: px4_msgs, which provides ROS 2-compatible message definitions and IDL, and px4_ros_com, which provides agent templates and generated-agent integration. Their message definitions need to match the firmware’s message set. A mismatch can prevent the two sides from exchanging the expected data.
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Set up the v1.13 workflow
Use the PX4 v1.13 instructions for the target release and check the companion computer’s ROS 2 distribution before installing build dependencies. Fast DDS and Fast-RTPS-Gen are part of this version-specific workflow; PX4’s archived v1.13 guidance calls for Fast DDS 2.0.2 or later and Fast-RTPS-Gen 1.0.4. Those are historical requirements for that workflow, not universal recommendations for current PX4 or ROS 2 installations.
- Confirm the versions. Check that the vehicle is running PX4 v1.13 and identify the ROS 2 distribution on the companion computer. If the vehicle runs v1.14 or later, use the uXRCE-DDS setup for that release instead.
- Prepare the ROS 2 environment and dependencies. Source the ROS 2 installation and follow the PX4 v1.13 dependency instructions for Fast DDS and Fast-RTPS-Gen. ROS 2 Foxy and earlier may provide Fast DDS support through the default
rmw_fastrtpspackage. Galactic and later may require installing the matchingrmw_fastrtpsimplementation because CycloneDDS can be the default middleware. Check the instructions for the specific ROS 2 distribution. - Build the ROS workspace against matching messages. Use
px4_msgsdefinitions that align with the PX4 firmware and build thepx4_ros_comintegration as described in the v1.13 guide. Do not assume that message definitions from a different PX4 release are interchangeable. - Start the PX4 RTPS target. For a SITL check, start the PX4 RTPS target so the PX4-side client is available. For a real vehicle, configure the firmware and transport for the actual connection between the flight controller and companion computer.
- Source the built ROS 2 workspace and start the agent. In the companion computer’s sourced ROS 2 environment, run
micrortps_agent -t UDPfor the documented UDP setup. If another ROS 2 tutorial setROS_DOMAIN_ID, unset it for this documented agent connection. - Run a ROS 2 listener. Launch the provided sensor-combined listener from the ROS integration examples and check that it receives data. The PX4 v1.13 SITL example uses UDP ports 2019 and 2020 between client and agent.
The listener check verifies that the configured SITL path is exchanging data; it does not validate a HoverGames vehicle’s serial wiring, network route, port assignment, or flight-ready configuration.
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Choose and configure the transport
UDP
UDP is used in the documented v1.13 SITL example, with ports 2019 and 2020 for the client-agent link. On a real vehicle, the route and port configuration must match the PX4 and companion-computer network setup. Do not assume the SITL port arrangement automatically describes the vehicle’s network.
UART-style serial
A UART connection can be used, but a port already assigned to MAVLink cannot simultaneously serve the bridge as though it were free. Resolve the conflict by assigning one protocol to another port or by using a protocol splitter. Stopping MAVLink may help as a temporary development workaround, but it is not a general deployment design.
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What to verify on a HoverGames vehicle
The official bridge guidance describes PX4 and ROS 2 integration, but does not establish a HoverGames-specific board SKU, wiring diagram, or mandatory accessory list. Those details depend on the exact hardware revision and vehicle configuration. Before connecting the agent, establish the following:
- The exact PX4 release running on the vehicle.
- The companion computer’s operating system and ROS 2 distribution.
- Whether the bridge will use a network route or a serial connection.
- Which physical port and protocol are assigned to the bridge, and whether MAVLink is already using that port.
- Whether the ROS workspace message definitions match the firmware’s uORB message set.
Moving an existing ROS 2 setup to uXRCE-DDS
For PX4 v1.14 and later, follow the uXRCE-DDS workflow for the installed PX4 release rather than trying to carry over the microRTPS agent command. The newer arrangement still uses a PX4-side client and a companion-side agent, but the software and supported link choices differ. Existing ROS 2 nodes may also need changes to work with the newer message and integration setup; the amount of migration work depends on how the current workspace is built and which interfaces it uses.
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