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# Aerostack2

Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way.

![Build for Ubuntu 22.04 and ROS humble](https://github.com/aerostack2/aerostack2/actions/workflows/build-humble.yaml/badge.svg)

Currently is currently developed and tested over ROS 2 humble (over Ubuntu 22.04) .

Versions below 1.0.9 were also developed and tested over ROS 2 galactic (over Ubuntu 20.04), can be found in the branch `EOL/galactic`.

We also have docker images with Aerostack2 preinstalled in ROS 2 Humble, check it out at [Aerostack2 Dockerhub](https://hub.docker.com/u/aerostack2).


Most important features:
- Natively developed on ROS 2.
- Complete modularity, allowing elements to be changed or interchanged without affecting the rest of the system.
- Independence of the aerial platform. Easy Sim2Real deployment.
- Project-oriented, allowing to install and use only the necessary packages for the application to be developed.
- Swarming orientation.

Please visit the [[Aerostack2 Documentation]](https://aerostack2.github.io) for a complete documentation.

Installation instructions can be found [[here]](https://aerostack2.github.io/_00_getting_started/index.html#ubuntu-debian).

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https://user-images.githubusercontent.com/35956525/231999883-e491aa08-2835-47a9-9c68-5b2936e8594e.mp4

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# Credits

If you use the code in the academic context, please cite:

* M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui,
D. Perez-Saura, and P. Campoy,  2023, ["Aerostack2: A software framework for
developing multi-robot aerial systems"](https://arxiv.org/abs/2303.18237), ArXiv DOI 2303.18237.