KimMcG
March 3, 2024, 3:48pm
7
I just wanted to add that we have a page of autonomy stacks for aerial robotics in the aerial robotics landscape:
# Aerial Autonomy Stacks
Based on [this discussion in Discourse]( https://discourse.ros.org/t/more-aerial-autonomy-stacks/30992/) and [our startup meeting](https://discourse.ros.org/t/start-up-meeting-aerial-robotics-wg/30869), we can define an aerial autonomy stack as follows:
> An aerial autonomy robotics stack is a collection of building blocks that enable the development of autonomous aerial vehicles, by providing a modular and scalable architecture for sensing, perception, planning, and control tasks. It allows unmanned aerial vehicles to perform complex missions without human intervention, while accommodating different hardware configurations and simulation environments.
## Comparison
From the paper
> Fernandez-Cortizas, Miguel, et al. "Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems." arXiv preprint arXiv:2303.18237 (2023).
the following autonomy stack table was extracted and adapted.
| Flight stack | OS/OC | Modular | Tested in | Middleware | last update | MF | RO | MA | MP | PO |
| -------------- | ----- | ------- | --------- | ---------- | ------------ | --- | --- | --- | --- | --- |
| Aerostack | ✓ | ✓ | S,RIL,ROL | ROS | 10/2021 | ✗ | ✓ | ✓ | ✓ | ✗ |
| Aerostack2 | ✓ | ✓ | S,RIL,ROL | ROS 2 | 03/2023 | ✓ | ✓ | ✓ | ✓ | ✓ |
| AerialCore | ✓ | ✓ | S,RIL,ROL | ROS | 03/2023 | ✓ | ✓ | ✓ | ✗ | ✓ |
| Agilicious | ✓ | ✓ | S,RIL | ROS | 03/2023 | ✗ | ✓ | ✗ | ✗ | ✗ |
show original
However, we do have to try to focus on packages that have been ported for ROS 2 (since ROS 1 only has 1 more year to go) and unfortunately I think that the Kumar robotics software has not yet though.
Aerostack2 has been mentioned quite a lot and has been presented last year at our meetings and recently for the gazebo sim community meeting , however, has anybody used the indoor navigation part one yet?
By the way, should we add a sensor section to the hardware page on the aerial robotic landscape ? Seeing some good tips here but we don’t have a list of this anywhere.