Middleware and Drivers

The aim for this page is to provide a collection of ROS packages/related libraries which are very useful for aerial ROS projects either to serve as a reference or directly use as a part of a custom software stack. This list aims to address the gap between the flight controller firmware and purely autonomy related packages.

Middleware libraries

Enabling low overhead publish/subscribe on microcontrollers:

1. Micro-XRCE-DDS
2. Zenoh
3. PX4-FastRTPS - superceded by Micro-XRCE-DDS (https://docs.px4.io/main/en/middleware/uxrce_dds.html)

Driver packages for drone platforms

ROS packages built atop SDKs from drone vendors to interface to their closed-source flight controller firmwares. Several of these may be for much older ROS1 distros but can have utility in terms of serving as references.

1. Parrot ARDrone Autonomy
2. Parrot Bebop Autonomy
3. DJI Tello driver
4. Parrot Mambo driver