Know Issues and Limitations

PX4 and ROS msgs Sync

PX4 and Gazebo

The PX4 Gazebo-bridge module was introduce in PX4 v1.15.0 to connect PX4 directly to Gazebo API.

The current limitation is that the bridge was design for Gazebo Harmonic onwards, which is target for Ubuntu 24.04 Noble and is the recommended version to play along side with ROS 2 Jazzy. But our system target Ubuntu 22.04 and ROS Humble, which ships Gazebo Fortress if you install ROS using the debian package ros-humble-desktop (as we do) theres naturaly a missmatch of the expected Gazebo by PX4 and the Gazebo installed by default, this is visible went you try to launch the eolab_bringup, you get message complaying about Unknown message type, this happends because the message names change from Gazebo Fortress to Gazebo Harmonic, and Gazebo as a project switch from a ign namespace for the whole project to gz.

$ ros2 launch eolab_bringup start.launch.py
...
[create-2] Unknown message type [9].
[create-2] Unknown message type [9].
[create-2] Unknown message type [9].
[create-2] Unknown message type [9].
[create-2] Unknown message type [9].

How to fix this?

To fix this you need to add the OSRF gazebo debian package repository to pull gazebo harmonic:

sudo apt update
sudo apt install -y curl lsb-release gnupg # Install tools
curl -s https://packages.osrfoundation.org/gazebo.gpg | sudo gpg --dearmor -o /usr/share/keyrings/osrf-archive-keyring.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/osrf-archive-keyring.gpg] packages.osrfoundation.org $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/gazebo-archive.list
sudo apt update
sudo apt install ros-humble-ros-gzharmonic