XTDrone

[中文版]

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.

Related paper: XTDrone: A Customizable Multi-Rotor UAVs Simulation Platform

Developers can quickly verify algorithms with XTDrone, such as:

1. Object Detection and Tracking

2. Visual SLAM

3. Laser Slam

4. VIO

5. Motion Planning

6. 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
  1. Object Detection and Tracking
     • YOLO
  2. SLAM：
     1. VSLAM:
        • ORBSLAM2
     2. Laser_SLAM:
        • PLICP+gmapping
     3. VIO
        • VINS-Mono（pre-flight initialization issues need to be improved）
  3. Ground true pose acquisition
  4. Speech Recognition（to be developed）
• Motion Planning(currently only supports 2D )
  1. Global planning
     • A*
     • Dijkstra
  2. Local planning
     • DWA
• Cooperation：Multi-UAV Formation. Supply simple 3D simulator to speed up algorithm validation.
• Simulation configuration
  1. PX4 configuration
     • Can reject GPS and magnetic compass
  2. Launch script
  3. Gazebo models
     • Stereo Camera、Depth Camera、LiDAR
  4. Gazebo worlds
     • 2 outdoor worlds
     • 3 indoor worlds

Installation

View the tutorial doc XTDrone

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request