drone_core (C++)

drone_core is the main C++ ROS 2 package in DroneOS. It provides a modular SDK for commanding and monitoring PX4-compatible drones.

Components

DroneState (drone_state.hpp)

Tracks drone state through PX4 topic subscriptions:

• Navigation state, arming state, landing state, position fix
• Subscribes to: VehicleStatus, VehicleLandDetected, VehicleGlobalPosition, VehicleLocalPosition

DroneAgent (drone_agent.hpp)

Handles PX4 command communication:

• Manages MAVLink system ID targeting
• Sends VehicleCommand messages
• Routes commands to the correct PX4 instance

DroneController (drone_controller.hpp)

High-level control logic combining state tracking and command execution.

DroneNode (drone_node.hpp)

The ROS 2 node that exposes drone control as services:

Building

Inside the drone_core Docker container:

cd /root/ws_droneOS && colcon build && source install/setup.bash

Running Additional Instances

For multi-drone setups, run additional drone_core instances with different parameters:

ros2 run drone_core drone_core --ros-args \
    -r __node:=drone2 \
    -p drone_name:=drone2 \
    -p px4_namespace:=/px4_1/fmu/ \
    -p mav_sys_id:=2

Source

src/drone_core/
├── include/drone_core/
│   ├── drone_agent.hpp
│   ├── drone_controller.hpp
│   ├── drone_node.hpp
│   ├── drone_state.hpp
│   ├── offboard_control.hpp
│   └── utils/state_enums.hpp
├── src/
│   ├── drone_core/
│   ├── main.cpp
│   └── utils/
├── CMakeLists.txt
└── package.xml