px4-ros2-gazebo

Aerial Object Detection using a Drone with PX4 Autopilot and ROS 2. PX4 SITL and Gazebo Garden used for Simulation. YOLOv8 used for Object Detection.

A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)

Low-level control of PX4 Multi-rotor vehicles in Offboard mode

Autonomous UAV navigation system featuring real-time 2.5D occupancy-grid mapping, A* global path planning, and depth + LiDAR sensor fusion for dynamic obstacle avoidance in complex urban environments. Fully integrated with ROS 2, PX4 Offboard control, and Gazebo simulation for high-fidelity testing and deployment.

My NMPC controller package for PX4-based Quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).

An advanced ROS 2 package for autonomous drone navigation using SAC with Prioritized Experience Replay. Built on PX4, Gazebo Harmonic, and ROS 2 Humble, it enables intelligent obstacle avoidance with training scripts, test environments, and PX4 bridge configs.

ROS2 composable node that generates PoseStamped, Velocity and the trajectory of the UAV

This repository provides the necessary files and instructions to add a new PX4 model, X500 with Depth Camera and 2D LiDAR, for simulation in Gazebo Harmonic. The model integrates an OakD-Lite depth camera and a 2D LiDAR with the PX4 X500 drone for enhanced perception capabilities.

🛸 Navigate urban environments with this autonomous UAV system using real-time occupancy grid mapping and dynamic obstacle avoidance for safe and efficient flights.

PX4 + ROS2 Jazzy autonomous payload-drop system powered by Hailo-8L inference. Real-time YOLOv8s detection, OFFBOARD control, and full HIL validation (RPi5 ↔ PX4 SITL).

2025 Konkuk Univ. Autonomous Vehicle Platform Final Project (건국대학교 스마트운행체공학과 자시플 프젝)

Full-stack autonomous UAV landing on a moving UGV using PX4 SITL, ROS 2, and Gazebo. Combines multi-scale AprilTag bundle perception, multi-sensor EKF state estimation, and FOV-constrained linear MPC, orchestrated via a reactive Behavior Tree.

Px4 Simulation with Gazebo and ROS2 RTPS

A modified Dynamic Window Approach (DWA) for obstacle avoidance on holonomic UAVs, including a roadmap and detailed documentation.

AprilTag-based perception and trajectory-following evaluation framework for PX4 UAVs using ROS 2 and Gazebo.

This repository contains Adaptive Sliding Mode Control (ASMC) for attitude control for Fixed Wing UAV in Gazebo Simulation. Additionaly, on top of the ASMC controller, as PID controller is implemented to hold altitude of the vehicle.

Pre-launch validator for PX4 + ROS 2 + Gazebo SITL. Catches environment mismatches before launch with colour-coded reports & fix commands.

PX4 ROS2 offboard setpoint publisher

ROS 2 Jazzy project for PX4 drone simulation, SLAM mapping with SLAM Toolbox, and autonomous navigation with Nav2 in Gazebo Harmonic.