# formiat/px4-ros2-drone-nav

<https://repo.masters-masters.com/en/repos/formiat/px4-ros2-drone-nav>

[Home](https://repo.masters-masters.com/en) › [formiat](https://repo.masters-masters.com/en/owners/formiat) › [px4-ros2-drone-nav](https://repo.masters-masters.com/en/repos/formiat/px4-ros2-drone-nav)

formiat/px4-ros2-drone-nav has 167 stars on GitHub. Its RepoMasters card: Prototype tier. Autonomous UAV navigation in GNSS-denied indoor spaces with no prior…

| Field | Value |
| --- | --- |
| Owner | [formiat](https://repo.masters-masters.com/en/owners/formiat) |
| Stars | 167 |
| Forks | 33 |
| Language | [C++](https://repo.masters-masters.com/en/languages/c-plus-plus) |
| License | MIT |
| Created | 2026 |
| Topics | autonomous-navigation, d-star-lite, drone, gazebo, gnss-denied, gps-denied, lidar-inertial-odometry, model-predictive-control, mppi, msckf |
| Tier | [Prototype (100 to 249 ★)](https://repo.masters-masters.com/en/ranks/rush) |
| View on GitHub | [formiat/px4-ros2-drone-nav](https://github.com/formiat/px4-ros2-drone-nav) |

## Repository

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.

The tier for repos with 100 to 249 ★. Published odds per card pulled: 70%. Rarity: Common.

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Data: GitHub · Illustration drawn by RepoMasters from the repo’s ID and its language color.