Gazebo Classic ‐ AirSim SITL Sim. - JOCIIIII/PX4-PILS-Runner GitHub Wiki

SITL Architecture

graph TD
    classDef blue fill:#ff6600,stroke:#000,stroke-width:2px,color:#fff
    classDef green fill:#16b552,stroke:#000,stroke-width:2px,color:#fff


    PX4[kestr3l/px4]
    GCS[kestr3l/qgc-app]
    SIM[kestr3l/gazebo:classic]
    VISUAL[kestr3l/airsim]

    ROS2-uXRCE[kestr3l/ros2:uxrce]

    ROS2-node1["kestr3l/ros2:dev\n(Multiple nodes)"]

    subgraph ROS2-BUS
        ROS2-uXRCE-- ROS2 Topic ---ROS2-node1
    end

    GCS-- MAVLink --->PX4
    PX4-- MAVLink --->GCS

    PX4-- "MAVLink\n(ACT. CMD.)" --->SIM

    SIM-- "RPC\n(States)" --->VISUAL

    SIM-. "ROS2 Topic\n(Env. Sensors)" ..->ROS2-BUS
    VISUAL-- "ROS2 Topic\n(Visual Sensors)" --->ROS2-BUS
    ROS2-BUS-- "ROS2 Topic\n(World Ctrl)" --->VISUAL
    ROS2-BUS-. "ROS2 Topic\n(World Ctrl.)" ..->SIM
    PX4-- "ROS2 Topic\n(EKF States)" --->ROS2-uXRCE
    ROS2-uXRCE-- "uORB Msg\n(O/B Cmd.)" --->PX4

    linkStyle 1,2,3 stroke:#ff6600,stroke-width:2px;
    linkStyle 4 stroke:#2ed03c,stroke-width:2px;
    linkStyle 0,5,6,7,8,9 stroke:#1f98dc,stroke-width:2px;
    linkStyle 10 stroke:#b613f7,stroke-width:2px;