Blar
← Autonomy lab

The airframe · PX4 SITL + Gazebo Garden

The drone

A Holybro X500 V2 with a Pixhawk 6C, built from Holybro's official CAD. In simulation, all six planners fly PX4's x500 model with a 270° 2D lidar (the depth-camera variant for APF), so the difference is in the code. Take it apart.

Put together

The 3D model needs WebGL, which this browser has turned off. The parts are listed below.

Drag to rotate · scroll to zoom · click a part

One control tick, end to end

The orange dots in the model follow this path. It is the same in every repo; only the planner in the middle changes.

  1. lidar_2d_v2 scans one plane, 270°, 1080 beams
  2. ros_gz_bridge turns the Gazebo topic into /lidar (LaserScan)
  3. obstacle_sensor_node reduces the scan to obstacle rows
  4. planner node, 20 Hz: APF, VFH, MPC, RRT*, DWA or WARP
  5. /fmu/in/trajectory_setpoint over the Micro XRCE-DDS agent
  6. PX4 in offboard mode tracks the velocity, about a second late

3D models: Holybro X500 V2 frame and Pixhawk 6C, from Holybro's official CAD ↗, converted from STEP. Lidar, camera, companion computer, battery and propellers are placeholder shapes.