Bridging Simulation and Reality for Aerial Robotics
Agipix is an open hardware and software platform for agile indoor autonomy that runs the same ROS 2, containerized stack in both Isaac Sim and on the real robot. A small 438×372 mm footprint with a multi-modal sensor suite (3D LiDAR, RGB camera, IMU) and a Jetson Orin NX companion enables robust exploration and mapping with zero code changes from sim to real.
Simulation
Digital Twin in Isaac Sim with full sensor fidelity and physics simulation
Setup Simulation →
Key Highlights
1. Sim-to-Real Deployability
Identical ROS 2 containers and configs run in Isaac Sim and on hardware; zero code changes between environments.
2. Open-Source Platform
Full BOM, CAD, simulation assets, and the containerized ROS 2 stack are released in this repository.
3. Modular Autonomy Stack
ROS 2–based perception, state estimation, mapping, planning, PX4 interface, and logging run as decoupled nodes.
4. Small Form Factor
Compact 438×372 mm envelope with guards; measured thrust-to-weight ratio (TWR) ≈ 2.98:1 for precise indoor maneuvers.
5. Extensive Sensor Suite
3D LiDAR, RGB camera, and IMU integrated into a LiDAR–inertial–visual stack for robust mapping and exploration.
6. Modular Hardware Design
Layered decks and accessible power/data breakouts simplify sensor or compute upgrades without redesign.
Quick Start
🖥️ Simulation
- Simulation Setup Guide
- Isaac Sim Integration
- ROS 2 Docker Containers
- Digital Twin Environment
🤖 Autonomy
- Navigation & Mapping
- Planning & Control
- Exploration Algorithms
- PX4 Integration
Repository Layout
doc/— Setup and usage guidesbom/— Bill of Materialscad/— Mechanical CAD (designs and fabrication)model_exports/— Exported models (STL/USD) for sim and docscalibration/— Calibration assets (real and sim)_assets/— Images, videos, and datasheets used in docs