Message versioning and ROS 2 message translation

[GuillaumeLaine]

This documents the newly versioned subset of PX4 messages, and the ROS 2 translation node that enables seamless communication between PX4 and ROS 2 applications that may be using different message definition versions.

Related Work

• [PX4-Autopilot] Implementing ROS 2 translation node and CI checks: Message versioning and translation for ROS PX4-Autopilot#24113
• [PX4-Autopilot] Introducing versioned PX4 messages: msg: introduce subset of versioned messages  PX4-Autopilot#23850
• [px4_msgs] Updating build paths for versioned messages: CMakeLists: include versioned msg path px4_msgs#46

To Do

• Complete TODOs in the markdown of this PR

[GuillaumeLaine]

@hamishwillee I think the PR is in a review ready state. I left a few TODOs in the markdown to resolve before merging. Mostly things that I need to go back to once the last related PR is merged

[hamishwillee]

@GuillaumeLaine Thanks for your comments. I can see we're getting pretty close. Any ETA on when PX4/PX4-Autopilot#24113 will get in?

[GuillaumeLaine]

@hamishwillee The implementation PR is ready to merge in my opinion, it's all good from a user workflow perspective when I tested it. There hasn't been much activity from the community but FWIW I've just given my approval, I think we can expect it to get merged soon

[hamishwillee]

Thanks for the update @GuillaumeLaine - really appreciate your attention to detail. I am happy for this to go in. There are just two outstanding suggestions for your consideration:

• Message versioning and ROS 2 message translation #3465 (comment)
• Message versioning and ROS 2 message translation #3465 (comment)

[github-actions]

No flaws found

[hamishwillee]

@GuillaumeLaine I don't have any other comments. Looks good to go in when the code PR goes in.

[GuillaumeLaine]

@hamishwillee Awesome thanks! Really appreciate you taking the time to refine things until they're right 🙌🏻