ctu-mrs/mrs_uav_system

What it solves

It provides a comprehensive control, estimation, and simulation system for underactuated multirotor helicopters, enabling researchers to safely validate new approaches in planning, control, computer vision, and tracking in both simulated and real-world environments.

How it works

Built on ROS2 (Jazzy), the system is designed to run entirely on a companion computer onboard the UAV. It integrates multiple pipelines for state estimation, mapping, and planning. The platform is modular, offering various hardware API plugins (such as PX4 and DJI Tello) and multiple simulator options including Gazebo and FlightForge to bridge the gap between simulation and real-world deployment.

Who it’s for

It is primarily designed for robotics researchers and students specializing in multi-rotor systems who need a reproducible and stable platform for experimental validation.

Highlights

• Comprehensive Pipeline: Includes integrated tools for control, state estimation, mapping, and planning.
• Modular Hardware Support: Supports various hardware via API plugins for PX4 and DJI Tello.
• Multiple Simulators: Provides access to Gazebo, FlightForge, and a dedicated MRS Multirotor Simulator.
• Research-Ready: Specifically built to support reproducible research and real-world experimental validation.