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README.en.md
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#### Description
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XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and rovers. It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform.
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XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and other unmanned equipment (such as UGVs, USVs and robotic arms). It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform.
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<img src="./image/vehicles.png" width="640" />
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<img src="./images/vehicles.png" width="640" />
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Architecture for single vehicle simulation is shown as the below figure. For more details, see the paper
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Xiao, K., Tan, S., Wang, G., An, X., Wang, X., Wang, X.: XTDrone: A Customizable Multi-rotor UAVs Simulation Platform. arXiv preprint **[ arXiv:2003.09700](https://arxiv.org/abs/2003.09700)** (2020)
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<img src="./image/architecture_1.png" width="640" height="480" />
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<img src="./images/architecture_1.png" width="640" height="480" />
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Architecture for multiple vehicle simulation is shown as the below figure. For more details, see the paper
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Xiao, K., Ma, L., Tan, S., Cong, Y., Wang, X.: Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform. arXiv preprint **[ arXiv:2005.01125](https://arxiv.org/abs/2005.01125)** (2020)
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<img src="./image/architecture_2.png" width="640" />
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<img src="./images/architecture_2.png" width="640" />
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Developers can quickly verify algorithms with XTDrone, such as:
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1. Object Detection and Tracking
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<img src="./image/human_tracking.gif" width="640" height="360" />
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<img src="./images/human_tracking.gif" width="640" height="360" />
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2. Stereo SLAM
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<img src="./image/vslam.gif" width="640" height="360" />
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<img src="./images/vslam.gif" width="640" height="360" />
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3. RGBD-SLAM
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<img src="./image/rgbdslam.gif" width="640" height="360" />
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<img src="./images/rgbdslam.gif" width="640" height="360" />
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4. 2D Laser SLAM
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<img src="./image/laser_slam_2d.gif" width="640" height="360" />
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<img src="./images/laser_slam_2d.gif" width="640" height="360" />
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5. 3D Laser SLAM
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<img src="./image/laser_slam_3d.gif" width="640" height="360"/>
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<img src="./images/laser_slam_3d.gif" width="640" height="360"/>
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6. VIO
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<img src="./image/vio.gif" width="640" height="360" />
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<img src="./images/vio.gif" width="640" height="360" />
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7. Motion Planning
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<img src="./image/motion_planning.gif" width="640" height="360" />
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<img src="./images/motion_planning.gif" width="640" height="360" />
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8. Formation
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<img src="./image/formation_1.gif" width="640" height="360" />
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<img src="./images/formation_1.gif" width="640" height="360" />
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<img src="./image/formation_2.gif" width="640" height="360" />
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<img src="./images/formation_2.gif" width="640" height="360" />
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9. Fixed wing
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<img src="./image/planes.gif" width="640" height="360" />
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<img src="./images/planes.gif" width="640" height="360" />
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10. VTOLs
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<img src="./image/vtols.gif" width="640" height="360" />
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<img src="./images/vtols.gif" width="640" height="360" />
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11. UGV
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<img src="./image/ugv.gif" width="640" height="360" />
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<img src="./images/ugv.gif" width="640" height="360" />
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12. USV
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<img src="./image/usv.gif" width="640" height="360" />
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<img src="./images/usv.gif" width="640" height="360" />
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#### User manual
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34
README.md
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<div id="sidebar"><a href="./README.en.md" target="_blank"><font color=#0000FF size=5px >[ENGLISH]<font></center><a></div>
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### 介绍
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XTDrone是基于PX4、ROS与Gazebo的无人机仿真平台。支持多旋翼飞行器（包含四轴和六轴）、固定翼飞行器、复合翼飞行器（包含quadplane，tailsitter和tiltrotor）和无人车。在XTDrone上验证过的算法，可以方便地部署到真实无人机上。
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XTDrone是基于PX4、ROS与Gazebo的无人机仿真平台。支持多旋翼飞行器（包含四轴和六轴）、固定翼飞行器、复合翼飞行器（包含quadplane，tailsitter和tiltrotor）与其他无人装备（如无人车、无人船与机械臂）。在XTDrone上验证过的算法，可以方便地部署到真实无人机上。
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<img src="./image/vehicles.png" width="640" />
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<img src="./images/vehicles.png" width="640" />
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单机仿真架构如下图所示，详见论文
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Xiao, K., Tan, S., Wang, G., An, X., Wang, X., Wang, X.: XTDrone: A Customizable Multi-rotor UAVs Simulation Platform. arXiv preprint **[ arXiv:2003.09700](https://arxiv.org/abs/2003.09700)** (2020)
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<img src="./image/architecture_1.png" width="640" height="480" />
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<img src="./images/architecture_1_cn.png" width="640" height="480" />
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多机仿真架构如下图所示，详见论文
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Xiao, K., Ma, L., Tan, S., Cong, Y., Wang, X.: Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform. arXiv preprint **[ arXiv:2005.01125](https://arxiv.org/abs/2005.01125)** (2020)
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<img src="./image/architecture_2.png" width="640" />
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<img src="./images/architecture_2_cn.png" width="640" />
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在这个平台上，开发者可以快速验证算法。如：
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1. 目标检测与追踪
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<img src="./image/human_tracking.gif" width="640" height="360" />
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<img src="./images/human_tracking.gif" width="640" height="360" />
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2. 双目SLAM
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<img src="./image/vslam.gif" width="640" height="360" />
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<img src="./images/vslam.gif" width="640" height="360" />
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3. RGBD-SLAM
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<img src="./image/rgbdslam.gif" width="640" height="360" />
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<img src="./images/rgbdslam.gif" width="640" height="360" />
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4. 2D激光SLAM
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<img src="./image/laser_slam_2d.gif" width="640" height="360" />
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<img src="./images/laser_slam_2d.gif" width="640" height="360" />
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5. 3D激光SLAM
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<img src="./image/laser_slam_3d.gif" width="640" height="360"/>
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<img src="./images/laser_slam_3d.gif" width="640" height="360"/>
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6. 视觉惯性导航
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<img src="./image/vio.gif" width="640" height="360" />
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<img src="./images/vio.gif" width="640" height="360" />
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7. 运动规划
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<img src="./image/motion_planning.gif" width="640" height="360" />
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<img src="./images/motion_planning.gif" width="640" height="360" />
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8. 多机协同
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<img src="./image/formation_1.gif" width="640" height="360" />
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<img src="./images/formation_1.gif" width="640" height="360" />
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<img src="./image/formation_2.gif" width="640" height="360" />
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<img src="./images/formation_2.gif" width="640" height="360" />
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9. 固定翼
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<img src="./image/planes.gif" width="640" height="360" />
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<img src="./images/planes.gif" width="640" height="360" />
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10. 复合翼
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<img src="./image/vtols.gif" width="640" height="360" />
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<img src="./images/vtols.gif" width="640" height="360" />
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11. 无人车
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<img src="./image/ugv.gif" width="640" height="360" />
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<img src="./images/ugv.gif" width="640" height="360" />
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12. 无人船
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<img src="./image/usv.gif" width="640" height="360" />
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<img src="./images/usv.gif" width="640" height="360" />
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### 教程
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