ROSflight 2.0: Lean ROS 2-Based Autopilot for Unmanned Aerial Vehicles
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914374081314816 |
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| author | Moore, Jacob Tokumaru, Phil Reid, Ian Sutherland, Brandon Ritchie, Joseph Snow, Gabe McLain, Tim |
| author_facet | Moore, Jacob Tokumaru, Phil Reid, Ian Sutherland, Brandon Ritchie, Joseph Snow, Gabe McLain, Tim |
| contents | ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to hardware experiments by maintaining a lean (not full-featured), well-documented, and modular codebase. This publication builds on previous treatments and describes significant additions to the architecture that improve the modularity and usability of ROSflight, including the transition from ROS 1 to ROS 2, supported hardware, low-level actuator mixing, and the simulation environment. We believe that these changes improve the usability of ROSflight and enable ROSflight to accelerate research in areas like advanced-air mobility. Hardware results are provided, showing that ROSflight is able to control a multirotor over a serial connection at 400 Hz while closing all control loops on the companion computer. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_00995 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ROSflight 2.0: Lean ROS 2-Based Autopilot for Unmanned Aerial Vehicles Moore, Jacob Tokumaru, Phil Reid, Ian Sutherland, Brandon Ritchie, Joseph Snow, Gabe McLain, Tim Robotics Systems and Control ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to hardware experiments by maintaining a lean (not full-featured), well-documented, and modular codebase. This publication builds on previous treatments and describes significant additions to the architecture that improve the modularity and usability of ROSflight, including the transition from ROS 1 to ROS 2, supported hardware, low-level actuator mixing, and the simulation environment. We believe that these changes improve the usability of ROSflight and enable ROSflight to accelerate research in areas like advanced-air mobility. Hardware results are provided, showing that ROSflight is able to control a multirotor over a serial connection at 400 Hz while closing all control loops on the companion computer. |
| title | ROSflight 2.0: Lean ROS 2-Based Autopilot for Unmanned Aerial Vehicles |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2510.00995 |