Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way.
Currently is currently developed and tested over ROS 2 humble (over Ubuntu 22.04) .
Versions below 1.0.9 were also developed and tested over ROS 2 galactic (over Ubuntu 20.04), can be found in the branch EOL/galactic.
We also have docker images with Aerostack2 preinstalled in ROS 2 Humble, check it out at Aerostack2 Dockerhub.
Most important features:
- Natively developed on ROS 2.
- Complete modularity, allowing elements to be changed or interchanged without affecting the rest of the system.
- Independence of the aerial platform. Easy Sim2Real deployment.
- Project-oriented, allowing to install and use only the necessary packages for the application to be developed.
- Swarming orientation.
Please visit the [Aerostack2 Documentation] for a complete documentation.
Installation instructions can be found [here].
test.mp4
If you use the code in the academic context, please cite:
- M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui, D. Perez-Saura, and P. Campoy, 2023, "Aerostack2: A software framework for developing multi-robot aerial systems", ArXiv DOI 2303.18237.