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Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.

An unofficial Ubuntu-based container building and running PX4 SITL (Software In The Loop) through gazebo.

Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.