Madrid, March 2023

Bridging PX4 and ROS 2 with Micro XRCE-DDS

Auterion, the open-source software company in the mobile robotics industry, has chosen Micro XRCE-DDS to bridge PX4 and ROS 2 making all ROS 2 features accessible.

The design chosen by Auterion, is composed of two onboard computers. The first is the microcontroller (or fly control unit), and the second is the mission computer. In the microcontroller is where PX4 is run, and we have some sensors to collect data. PX4 Autopilot is an open-source flight control software for drones and other unmanned vehicles. On the mission computer, you can run additional apps, in this case ROS 2, with various higher levels and also process the data received from the drone.

The Robot Operating System (ROS) is an open-source robotics middleware suite. ROS is not an operating system (OS) but a set of software frameworks for robot software development. It provides services designed for a heterogeneous computer cluster, such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management and uses DDS as its middleware.

Micro XRCE-DDS is in charge of communicating with both computers. It is a software solution that allows communicating eXtremely Resource Constrained Environments (XRCEs)  with an existing DDS network.

Thanks to its technical features, and the easy integration with PX4, it is the ideal solution to bridge the drones (where PX4 runs) and the mission computer, where ROS 2 is installed.

The improvements to the bridge’s performance and functionality have reduced memory and CPU footprint use. Other advantages are that Micro XRCE-DDS has a wide range of transport protocols, enabling Auterion to customize it even more


ABOUT Auterion

Auterion is a cutting-edge operating system for autonomous computing that empowers a diverse range of autonomous robots to perform high-risk to mundane tasks, deliver goods, and aid in life-saving missions. Our industry-leading software drives the adoption of robotic fleets and is recognized by the U.S. government as the future standard for its drone program. Join the Auterion movement and experience the power of next-generation computing.


eProsima is an SME company focused on networking middleware with special attention to the OMG (Object Management Group) standard called Data Distribution Service (DDS) for real time systems. The company’s DDS middleware solutions find special interest in the robotic, IoT and automotive sector, being Fast DDS a middleware implementations for larger robotic systems like ROS 2 and Micro XRCE-DDS the default middleware for micro-ROS, a robot operating system for microcontrollers.



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