forked from xtdrone/XTDrone
Robin Shaun 43006a1f78 | ||
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.gitee | ||
.vscode | ||
communication | ||
control | ||
coordination | ||
image | ||
motion_planning | ||
moveit_config | ||
sensing | ||
sitl_config | ||
.gitignore | ||
README.en.md | ||
README.md | ||
update.sh |
README.en.md
XTDrone
Description
XTdrone is a customizable Multi-Rotor UAVs simulation platform based on PX4 and ROS. Now the simulator of XTDrone is Gazebo, and the connection to Airsim is being developed.
Developers can quickly verify algorithms with XTDrone, such as:
-
Object Detection and Tracking
-
Visual SLAM
-
Laser Slam
-
VIO
-
Motion Planning
-
Formation
Software Architecture
- Comunication: The communication between PX4 and ROS is encapsulated in the Python class, and multi-machine communication starts multiple processes
- Control:Use the keyboard to switch drone flight modes, control unlocking, adjust speed and yaw steering
- Perception
- Object Detection and Tracking
- YOLO
- SLAM:
- VSLAM:
- ORBSLAM2
- Laser_SLAM:
- PLICP+gmapping
- VIO
- VINS-Mono(pre-flight initialization issues need to be improved)
- VSLAM:
- Ground true pose acquisition
- Speech Recognition(to be developed)
- Object Detection and Tracking
- Motion Planning(currently only supports 2D )
- Global planning
- A*
- Dijkstra
- Local planning
- DWA
- Global planning
- Cooperation:Multi-UAV Formation. Supply simple 3D simulator to speed up algorithm validation.
- Simulation configuration
- PX4 configuration
- Can reject GPS and magnetic compass
- Launch script
- Gazebo models
- Stereo Camera、Depth Camera、LiDAR
- Gazebo worlds
- 2 outdoor worlds
- 3 indoor worlds
- PX4 configuration
Installation
View the tutorial doc XTDrone
Contribution
- Fork the repository
- Create Feat_xxx branch
- Commit your code
- Create Pull Request