ROS2-based autonomous UAV simulation system integrating PX4 SITL, Gazebo Harmonic, FAST-LIO2 SLAM, and GPU-accelerated Lidar (RGL) for autonomous flight research.
| Component | Description |
|---|---|
| FAST-LIO2 | Lidar-Inertial SLAM |
| RTAB-Map | RGB-D SLAM with loop closure |
| PX4 SITL | Autopilot simulation |
| Sensors | Lidar, RGB-D, IMU, GPS |
Tech Stack: ROS2 Humble · PX4 SITL · Gazebo Harmonic · Ubuntu 22.04
Autonomous Labyrinth Flight
Global Planning and Local Correction
marvin_* (Core Packages)
├── marvin_control Flight missions, state machines, services
├── marvin_launch Launch file orchestration
├── marvin_models Gazebo SDF models, worlds, airframes
├── marvin_slam FAST-LIO2 configuration
├── marvin_utils Sensor preprocessing, timestamp sync
├── marvin_nav Navigation stack (waypoint follower, planner)
└── marvin_ai AI/ML integration (object detection, depth)
External Dependencies (Git Submodules)
├── PX4-Autopilot Autopilot simulation
├── FAST_LIO_ROS2 Lidar-Inertial SLAM
├── RGLGazeboPlugin GPU-accelerated Lidar
├── livox_ros_driver2 Livox message format support
├── DB-TSDF Dense mapping (optional)
└── Livox-SDK2 Livox sensor SDK
