Ardupilot
PX4
- https://dev.px4.io/v1.9.0/en/ros/
- https://dev.px4.io/v1.9.0/en/simulation/ros_interface.html
- https://dev.px4.io/v1.9.0/en/concept/architecture.html -Very Good
- https://dev.px4.io/v1.9.0/en/simulation/gazebo_octomap.html
PX4 vs Ardupilot
- https://diydrones.com/forum/topics/should-i-use-px4-flight-control-stack-or-the-apm-3-3-for-pixhawk?commentId=705844%3AComment%3A2349593
- https://discuss.ardupilot.org/t/px4-vs-ardupilot-when-to-choose-what/14262/13
MAVROS
MoveIt for UAVs?
From https://discourse.ros.org/t/moveit-research-roundup/15702
Although most people use MoveIt for manipulators, it is also capable to plan motions for mobile bases, Autonomous Underwater Vehicles (AUVs) and Unmanned Aerial Vehicles (UAVs). In [5] a 3D navigation system is presented for precision agriculture. Using a Unity-based simulation environment, a MoveIt-based system is presented for multi-level navigation that is flexible and robust enough to deal with complex, dynamic environments.
[5] L. do Ó, P. Alexandre Prates, R. Mendonça, A. Lourenço, F. Marques and J. Barata, “Autonomous 3-D Aerial Navigation System for Precision Agriculture,” 2019 IEEE 28th International Symposium on Industrial Electronics (ISIE), Vancouver, BC, Canada, 2019, pp. 1144-1149.