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An open framework to simulate and deploy perception-based PX4/ArduPilot drone swarms with ROS2, YOLO, LiDAR, NVIDIA Jetson
| Date | Stars |
|---|---|
| 2026-07-24 | 540 |
| 2026-07-25 | 541 |
| 2026-07-28 | 546 |
| 2026-07-30 | 547 |
| 2026-08-06 | 547 |
Today
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Momentum
35.0
growth rate 0.00%/day
# aerial-autonomy-stack
*Aerial autonomy stack* (AAS) is a "batteries included", flight-proven, open software and the simplest/fastest way to:
1. **Develop** multi-drone autonomy—with PX4, ArduPilot, and ROS2
2. **Simulate** faster-than-real-time perception and control—with YOLO and 3D LiDAR
3. **Deploy** in real drones—with JetPack, DeepStream, and NVIDIA Orin
For an example bill of materials, read [`BOM.md`](/tools_and_docs/docs/BOM.md); for motivation, read [`RATIONALE.md`](/tools_and_docs/docs/RATIONALE.md)
<details>
<summary><b>Features</b> <i>(click to expand)</i></summary>
- **PX4 and ArduPilot multi-vehicle** simulation (**quadrotors, quadplane VTOLs, and tailsitters**)
- ROS2 action-based autopilot interface (*via* XRCE-DDS or MAVROS)
- **YOLO** (with ONNX GPU Runtimes) and **LiDAR** Odometry (with [KISS-ICP](https://github.com/PRBonn/kiss-icp))
- 3D worlds for perception-based simulation
- **Steppable** [Gymnasium environment](https://gymnasium.farama.org/index.html) and **faster-than-real-time**, **multi-instance** simulation
- Gazebo's wind effects and [waves](https://github.com/srmainwaring/asv_wave_sim) plugins
- **Dockerized simulation** based on [Ubuntu with CUDA and cuDNN](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/cuda/tags)
- **Dockerized deployment** based on [NVIDIA JetPack](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-jetpack/tags) with [DeepStream](https://docs.nvidia.com/metropolis/deepstream/dev-guide/text/DS_Installation.html#platform-and-os-compatibility)
- **Windows 11** compatibility *via* WSL
- Multi-**Jetson-in-the-loop (HITL) simulation** to test NVIDIA- and ARM-based on-board compute
- Dual network to separate simulated sensors (`SIM_SUBNET`) and inter-vehicle comms (`AIR_SUBNET`)
- [Zenoh](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds) inter-vehicle ROS2 bridge
- [PX4 Offboard](https://docs.px4.io/main/en/flight_modes/offboard.html) interface (e.g. CTBR/`VehicleRatesSetpoint` for agile, GNSS-denied flight)
- [ArduPilot Guided](https://ardupilot.org/copter/docs/ac2_guidedmode.html) interface (i.e. `setpoint_velocity`, `setpoint_accel` references)
- Logs analysis with [`flight_review`](https://github.com/PX4/flight_review) (`.ulg`), MAVExplorer (`.bin`), and [PlotJuggler](https://github.com/facontidavide/PlotJuggler) (`rosbag`)
</details>
## 1. Installation
> AAS is developed on Ubuntu 24.04 with `nvidia-driver-580` using an i7-11 with 16GB RAM and RTX 3060
>
> Read [`REQUIREMENTS_UBUNTU.md`](/tools_and_docs/docs/REQUIREMENTS_UBUNTU.md) (or [`REQUIREMENTS_WSL.md`](/tools_and_docs/docs/REQUIREMENTS_WSL.md) for Windows 11) to install the requirements
```sh
sudo apt update && sudo apt install -y git xterm xfonts-base wget unzip
git clone https://github.com/JacopoPan/aerial-autonomy-stack.git
cd aerial-autonomy-stack/tools_and_docs/
./tests/check_requirements.sh # AAS requires nvidia-driver-580, docker, and nvidia-container-toolkit
./sim_build.sh # The 1st build takes ~45' with good internet (`Ctrl + c` and restart if needed, cached stages will be preserved)
```
<details>
<summary><b>ghcr.io pre-built images</b> <i>(click to expand)</i>
<a href="https://github.com/JacopoPan/aerial-autonomy-stack/actions/workflows/aas-amd64-build-and-test.yml"><img align="right" src="https://github.com/JacopoPan/aerial-autonomy-stack/actions/workflows/aas-amd64-build-and-test.yml/badge.svg" alt="aas build-and-test amd64"></a>
</summary>
```sh
# ghcr.io images are re-built from `main` every Friday night
for name in aircraft ground simulation; do
docker pull ghcr.io/jacopopan/${name}-image:latest
docker tag ghcr.io/jacopopan/${name}-image:latest ${name}-image:latest
done
```
</details>
## 2. Multi-drone Simulation
Start AAS:
```sh
cd aerial-autonomy-stack/tools_and_docs/
NUM_QUADS=1 NUM_VTOLS=1 WORLD=swiss_town RExcerpt of 34,463 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:943556aa809efee4, topic:ros2, topic:drone, topic:simulation
