GitHub Repository

An open framework to simulate and deploy perception-based PX4/ArduPilot drone swarms with ROS2, YOLO, LiDAR, NVIDIA Jetson

464 starsC++

Aerial-autonomy-stack–Simulate and Deploy Perception-based Drones

Name: Aerial-autonomy-stack–Simulate and Deploy Perception-based Drones
Availability: InStock
Author: SufficientFix42

by SufficientFix42·Feb 19, 2026·1 point·0 comments

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AI Analysis

●●●BangerWizardrySolve My ProblemBold Bet

Sim-to-real drone stack with PX4/ArduPilot integration, real working proof.

Strengths

•Faster-than-real-time Gymnasium simulation with YOLO + LiDAR closes research-to-deployment gap
•Dual-subnet architecture (sensors vs comms) is clean design, not obvious
•Actually deployed on real hardware (JetPack Orin); backed by arxiv paper with rigorous eval

Weaknesses

•Requires NVIDIA GPU and Docker; high barrier to entry limits audience
•Niche to research robotics; no commercial drone integration yet

Post Description

Sim2real is a recurrent challenge in robotics: despite the wide array of open-source solutions, end-to-end deployments often require painstakingly long integration of many different tools and frameworks.

This repo aims to provide a "batteries included" solution for flying multi-robot systems (in simulation and real-life).

Aerial autonomy stack (AAS) is an all-in-one software stack to:

- Develop multi-drone autonomy—with ROS2, PX4, and ArduPilot

- Simulate faster-than-real-time perception and control—with YOLO and 3D LiDAR

- Deploy in real drones—with JetPack and NVIDIA Orin

Runs on Ubuntu22/24, WSL. Requires Docker and an NVIDIA GPU.

Rationale and design choices: https://arxiv.org/abs/2602.07264

Happy to hear feedback/answer questions/provide clarifications.

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