Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way. This is the version that has been used in the context of the PRISMA project.
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.