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Hamish Willee
2026-05-22 09:06:36 +10:00
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docs/en/dev_setup/dev_env_windows_native.md
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@@ -350,20 +350,6 @@ To stop every `px4.exe` started by the helper (e.g. when several backgrounded da
.\Tools\simulation\sitl_multiple_run.ps1 -SitlNum 0 .\Tools\simulation\sitl_multiple_run.ps1 -SitlNum 0
``` ```
### Tested Configurations
What has been validated to work on native Windows today:
- Single `px4.exe` instance at any `PX4_SIM_SPEED_FACTOR` (1x and accelerated).
- Mixed speed factors across instances (when running ≤3 of them).
- MAVLink heartbeat to QGroundControl on `127.0.0.1` (autoconnect).
- The interactive `pxh>` stdin prompt and `CTRL+C` / `shutdown` graceful exit.
- `px4-*` client wrappers (`px4-commander`, `px4-listener`, `px4-shutdown`, …) from a separate _PowerShell_ window.
Known limitations (being tracked, not yet fixed):
- 5+ concurrent instances via `sitl_multiple_run.ps1`; up to 3 is the supported envelope.
## Connecting QGroundControl ## Connecting QGroundControl
If you don't already have QGroundControl, install it first via the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) page — the steps below assume it is already running on the same host. If you don't already have QGroundControl, install it first via the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) page — the steps below assume it is already running on the same host.
@@ -384,8 +370,11 @@ You can still drive any of them from a natively-built `px4.exe`: start the simul
## ROS 2 Setup on Windows Native ## ROS 2 Setup on Windows Native
This section is only relevant if you want to drive PX4 SITL from [ROS 2](../ros2/user_guide.md) on the same Windows host using the OSRF Windows binary release. ::: tip
If you only need SIH plus QGroundControl, you can skip this section and the next. Skip this section if you don't need ROS 2.
:::
This section is relevant if you want to drive PX4 SITL from [ROS 2](../ros2/user_guide.md) on the same Windows host using the OSRF Windows binary release.
::: info ::: info
ROS 2 on Windows is community-supported by OSRF — _not_ a first-class platform like Ubuntu Linux. ROS 2 on Windows is community-supported by OSRF — _not_ a first-class platform like Ubuntu Linux.
@@ -436,6 +425,10 @@ See the [uXRCE-DDS middleware page](../middleware/uxrce_dds.md) for the wider wo
## Building the Micro-XRCE-DDS Agent (Optional — for ROS 2 / DDS bridging) ## Building the Micro-XRCE-DDS Agent (Optional — for ROS 2 / DDS bridging)
::: tip
Skip this section if you don't need ROS 2.
:::
This section is only relevant if you want to bridge PX4 SITL to ROS 2 (or any other DDS subscriber) via the [uXRCE-DDS middleware](../middleware/uxrce_dds.md). This section is only relevant if you want to bridge PX4 SITL to ROS 2 (or any other DDS subscriber) via the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
The agent is a separate process that PX4's `uxrce_dds_client` connects to over UDP; without it, ROS 2 nodes have no way to see PX4's uORB topics. The agent is a separate process that PX4's `uxrce_dds_client` connects to over UDP; without it, ROS 2 nodes have no way to see PX4's uORB topics.
If you only need SIH plus QGroundControl, you can safely skip this section. If you only need SIH plus QGroundControl, you can safely skip this section.
@@ -559,6 +552,20 @@ For the wider ROS 2 / DDS workflow on top of this connection (workspace layout,
- **`UAGENT_P2P_PROFILE=ON` is not supported on Windows today.** The peer-to-peer profile triggers a separate, earlier recompaction failure inside the `microxrcedds_client` ExternalProject. - **`UAGENT_P2P_PROFILE=ON` is not supported on Windows today.** The peer-to-peer profile triggers a separate, earlier recompaction failure inside the `microxrcedds_client` ExternalProject.
PX4's SITL bridge does not use P2P, so leaving it off is safe. PX4's SITL bridge does not use P2P, so leaving it off is safe.
## Tested Configurations
What has been validated to work on native Windows today:
- Single `px4.exe` instance at any `PX4_SIM_SPEED_FACTOR` (1x and accelerated).
- Mixed speed factors across instances (when running ≤3 of them).
- MAVLink heartbeat to QGroundControl on `127.0.0.1` (autoconnect).
- The interactive `pxh>` stdin prompt and `CTRL+C` / `shutdown` graceful exit.
- `px4-*` client wrappers (`px4-commander`, `px4-listener`, `px4-shutdown`, …) from a separate _PowerShell_ window.
Known limitations (being tracked, not yet fixed):
- 5+ concurrent instances via `sitl_multiple_run.ps1`; up to 3 is the supported envelope.
## Next Steps ## Next Steps
Once you have finished setting up the command-line toolchain: Once you have finished setting up the command-line toolchain: