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肖昆 / XTDronePython

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基于PX4和ROS的无人机仿真平台 spread retract

  • C 56.0%
  • C++ 31.8%
  • Python 6.2%
  • Cuda 3.5%
  • CMake 1.7%
  • Other 0.8%
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肖昆 authored KM算法
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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:

  1. Object Detection and Tracking
  1. Visual SLAM
  1. Laser Slam
  1. VIO
  1. Motion Planning
  1. 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


View the tutorial doc XTDrone


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

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