JacopoPan/aerial-autonomy-stack

Supports autopilot-agnostic control via PX4 Offboard and ArduPilot Guided modes through action-based ROS2 interfaces, enabling both GNSS-denied and velocity/acceleration setpoint flight. Implements a dual-network architecture (SIM_SUBNET for sensor data, AIR_SUBNET for inter-vehicle comms) with Zenoh bridges, plus steppable Gymnasium environments for faster-than-real-time multi-instance training. Integrates KISS-ICP LiDAR odometry, ONNX-accelerated YOLO inference, and multi-Jetson hardware-in-the-loop testing across amd64/arm64 Docker containers.

349 stars.