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The entry point to the MRS UAV system.
| Date | Stars |
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| 2026-07-24 | 626 |
| 2026-07-25 | 626 |
| 2026-07-28 | 626 |
| 2026-07-30 | 626 |
| 2026-08-06 | 626 |
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# ROS2 MRS UAV system
The [Multi-robot Systems Group](http://mrs.felk.cvut.cz) is a robotics lab at the [Czech Technical University in Prague](https://www.cvut.cz/).
We specialize in multi-rotor helicopters, and for them specifically, we develop this control, estimation, and simulation system.
We think real-world and replicable experiments should support excellent research and science in robotics.
Thus, our platform is built to allow safe real-world experimental validation of approaches in planning, control, estimation, computer vision, tracking, and more.
## ROS2
Do you want to monitor the state of transition to ROS2 in real time?
Check the following diagram:
[](https://ctu-mrs.github.io/ros2_obsidian_knowledgebase/main_canvas.html)
## System properties
The system is
* built on the [Robot Operating System](https://www.ros.org/) Jazzy,
* meant to be executed entirely onboard on a companion computer,
* can control underactuated multirotor helicopters,
* contains control, state estimation, mapping, and planning pipelines.
## [Documentation](https://ctu-mrs.github.io/)
The primary documentation source is here: [https://ctu-mrs.github.io/](https://ctu-mrs.github.io/).
However, the website only scratches the surface of what it should contain (and we know it).
Our system is a research-oriented platform, and it evolves rapidly.
Most of our users are either researchers (who already know the platform) or freshmen students (who might not know ROS).
Maintaining up-to-date documentation for such an audience is hard work since we mostly develop the system while using it for our research.
So, instead, we aim at educating our students to look around the packages (each contains its own README), explore the launch files, and be able to read the code, which we strive to keep readable.
[](https://github.com/ctu-mrs/mrs_uav_system/raw/diagram/mrs_uav_system_diagram.png)
The control and estimation system are described in the article [doi.org/10.1007/s10846-021-01383-5](https://doi.org/10.1007/s10846-021-01383-5), [pdf](https://link.springer.com/content/pdf/10.1007/s10846-021-01383-5.pdf):
```
Baca, T., Petrlik, M., Vrba, M., Spurny, V., Penicka, R., Hert, D., and Saska, M.,
"The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and
Education with Autonomous Unmanned Aerial Vehicles", J Intell Robot Syst 102, 26 (2021).
```
## Installation
### Native installation
1. Install the Robot Operating System (Jazzy):
```bash
curl https://ctu-mrs.github.io/ppa2-stable/add_ros_ppa.sh | bash
sudo apt install ros-jazzy-desktop-full ros-dev-tools
```
2. Configure your ROS environment according to [https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#setup-environment](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#setup-environment)
3. Add the **[stable](https://github.com/ctu-mrs/ppa2-stable)** PPA into your apt-get repository:
```bash
curl https://ctu-mrs.github.io/ppa2-stable/add_ppa.sh | bash
```
* <details>
<summary>>>> Special instructions for the MRS System developers <<<</summary>
* Instead of the stable PPA, you can add the **[unstable](https://github.com/ctu-mrs/ppa2-unstable)** PPA, for which the packages are build immediatelly after being pushed to **ros2**.
* If you have both PPAs, the **unstable** has a priority.
* Beware! The **unstable** PPA might be internally inconsistent, buggy and dangerous!
<br>
* If you use the shell additions described [here](https://ctu-mrs.github.io/docs/prerequisites/ros2/workspace-build/#3-get-aliases-that-make-common-ros2-commands-usable), you should **not** manually source ROS or youExcerpt of 22,496 characters
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:a58638e632550a47, topic:ros, topic:drone, readme:robotics