Bridging Simulation and Reality in Indoor Aerial Inspection
Agipix is an open, compact, actively sensed aerial robotics platform for indoor autonomy and critical-asset inspection. The same ROS 2 containerized autonomy stack runs in Isaac Sim and on real hardware, enabling fast and reproducible sim-to-real transfer.
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 frame with protected sensing and agile indoor operation in narrow industrial spaces.
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
docs/— 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