This wiki offers a common entry point for multiple related projects that are improving open source software for use with small drones (aka UAVs).

• ROS 2 integration with PX4: We are integrating ROS 2 messages and transports more closely with PX4 for the purpose of enabling more flexible and abstract communications between autopilot and companion computer.

  • Resources:

    • Message API for drones: http://www.ros.org/reps/rep-0147.html

    • ROS2 Serial Transport: https://github.com/osrf/ros2_serial_example

• SITL simulation: We are improving the completeness and usability of Gazebo-based simulation of drones for the purpose of testing and training.

  • Resources:

    • Try out the SITL simulation: https://github.com/osrf/px4sitl

    • Docker images: https://github.com/osrf/drone_demo

    • Worlds for testing: https://github.com/osrf/uav_testing

      • Yosemite Fly Through Video:

        , Drone Video:

      • McMillan Fly Through Video:

      • Sand Island Fly Through Video:

• ArduPilot Lua Scripting: We are adding support in ArduPilot for Lua scripts to be run on the flight controller. These scripts can be provided by the user without recompiling the firmware and allows for easy addition of new features and behavior.

  • Resources:

    • Documentation on trying the scripting features: https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Scripting

• Universal Controller Vehicle Interface:

This node will translate from the ROS-M (ROS 2.0) universal controller services messaging to/from MavLink. Currently has basic teleoperation and status enabled.

• Resources:

  • Code: https://github.com/neyaMavlinkViS/mavlinkViS

• PX4 Security and Flight Safety Improvements

  • Resources:

    • https://github.com/PX4/Firmware

• QGC Groundstation: UX improvements and new videolink integrations

  • Resources:

    • https://github.com/mavlink/qgroundcontrol

    • https://github.com/Auterion/CameraQGC

• Python and Java Support for SDK

  • Resources:

    • https://github.com/Dronecode/DronecodeSDK

    • https://github.com/Dronecode/DronecodeSDK-Python

    • https://github.com/DroneCore/DroneCore-Java

• Mavlink Compliance Testing for Drones and Ground Stations

  • Resources:

    • https://github.com/Auterion/mavlink-testing-suite

• Collision Prevention and Obstacle Avoidance for open source drones

  • Resources:

    • https://github.com/PX4/avoidance

• Improved integration of VIO pipelines into PX4 for vision based navigation in GPS denied environments

  • Resources:

    • https://github.com/Auterion/realsense