Aerostack2
Getting started
License agreement
Previous dependencies
Ubuntu (Debian)
Binary Install
Source Install
Previous dependencies
Source Installation
Standard Build
Build with AS2 CLI
Aerostack2 Concepts
Architecture
Inter-process Communication
Platform and Sensors
Robotics Functions
Behaviors
Mission Control
Applications
Aerostack2 Inter-process Communication
Motion References
Actuator Commands
Sensor Measurements
Self Localization
Emergency
Aerial Platform
Motion Controller
Motion Reference Handler
Control Modes
Input Control Modes
Output Control Modes
State Estimator
Behaviors
Examples
Prerequisites
Basics Examples
Multirotor Simulator
Simple Multirotor Simulator Example
Gazebo Simulator
Simple Gazebo Example
Bitcraze Crazyflie
Simple Crazyflie Example
Crazyflie Gates Example
Ryze DJI Tello
Simple Tello Example
DJI SDK
DJI OSDK Example
DJI PSDK Example
Pixhawk 4
PX4 Vision Example
Aerial Platforms
Gazebo
Introduction
Installation
Prerequisites
Install platform package
Install simulation assets
Aerostack2 Common Interface
Control Modes
Sensors
Gimbal
Config Simulation
Platform Launch
Multirotor Simulator
Introduction
Installation
Aerostack2 Common Interface
Control Modes
Sensors
Gimbal
Config Simulation
Platform Launch
Bitcraze Crazyflie
Introduction
Installation
Prerequisites
Install platform package
Aerostack2 Common Interface
Control Modes
Sensors
Platform Launch
DJI Tello
Introduction
Installation
Aerostack2 Common Interface
Control Modes
Sensors
Platform Launch
Pixhawk 4
Introduction
Installation
Aerostack2 Common Interface
Control Modes
Sensors
Platform Launch
Mavlink
Introduction
Installation
Aerostack2 Common Interface
Control Modes
Sensors
Platform Launch
DJI Matrice Series OSDK
Introduction
Installation
Prerequisites
Install platform package
Aerostack2 Common Interface
Control Modes
Sensors
Platform Launch
DJI Matrice Series PSDK
Introduction
Installation
Prerequisites (One-Time Setup on Xavier/Orin NX/AGX Boards)
Prerequisites (Every Boot on Xavier/Orin NX/AGX Boards)
Install Platform Package
Aerostack2 Common Interface
Control Modes
Sensors
Platform Launch
Betaflight
Introduction
Installation
Setup
Aerostack2 Common Interface
Control Modes
Sensors
Robot Behaviors
Motion Behaviors
Perception Behaviors
Trajectory Generation Behaviors
AS2 Plugins
Motion Controller Plugins
State Estimator Plugins
Behaviors Plugins
Motion Behaviors Plugins
User Interfaces
Keyboard Teleoperation
Introduction
Install dependencies
Interface launch
Instructions
Interface Components
Settings window
Localization window
Behavior control
Alphanumeric Viewer
Introduction
Interface launch
Instructions
ROS 2 Common Interfaces
Aerial Platform
Topics
Services
Motion Controller
Topics
Services
State Estimator
Topics
Behaviors
Actions
Using AS2 Interfaces
Development
Command Line Interface (CLI)
Tutorials
Writing a New Aerial Platform
Overview
Requirements
Tutorial Steps
Writing a New Motion Controller Plugin
Overview
Requirements
Tutorial Steps
Writing a New State Estimator Plugin
Overview
Requirements
Tutorial Steps
Writing a New Behavior
Overview
Requirements
Behavior Server
Behavior Client
Adding new Gazebo Assets
Overview
Adding New Worlds
Adding New Models and Objects
Configuring New Sensors
Develop Guide
Developing a New Package
Architecture of a New Package
Code Style
Test
Node Template for New Packages
Setting Up Visual Studio Code
Install required Extensions
Modify ‘settings.json’
Set Configuration Variables
Create New Gazebo Assets
Create a New Gazebo Aerial Platform
Create a New Gazebo Sensor
API Documentation
Aerostack2
aerostack2
Python API
as2_python_api
Projects
Research
Videos
Local Gaussian Modifiers (LGMs): UAV dynamic trajectory generation for onboard computation
Framework for autonomous inspection of PV plants using IoT electronics on each PV panel and UAV collaboration
Exploring Unstructured Environments using Minimal Sensing on Cooperative Nano-Drones
Google Summer of Code (GSoC)
Google Summer of Code (GSoC)
Why contribute?
Ideas List for GSoC 2026
Project #1: Rerun-Based Visualization Integration for Aerostack2
Project #2: RQT Keyboard Teleoperation & Alphanumeric View
Project #3: Migration of current ROS 2 Nodes to Lifecycle Nodes in Aerostack2
Project #4: System Integration Tests and Continuous Integration
Project #5: Development of a Project Creation Tool for Aerostack2
Project #6: Behavior Client Implementation for C++
Application instructions for GSoC 2026
Basic Requirements
Warm-up Task
Application Form
How to increase your chances of being selected in GSoC-2026
Acknowledgements
User Reviews
License Agreement: 3-Clause BSD License
Citations
About and Contact
Aerostack2
User Reviews
Edit on GitHub
User Reviews
Here are some testimonials from users who have worked with Aerostack2: