PX4 Autopilot Integration
For controlling autonomous sytems running PX4 Autopilot we recommend incorporating the PX4/ROS2 Control Interface. We provide ready-to-use plugins for AutoAPMS in the auto-apms-px4 repository. This repo introduces two abstractions which allows the user to define custom PX4 modes that are dynamically registered at runtime and communicate with the autopilot through uORB interfaces:
ModeExecutorModeExecutorFactory