A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more
Pegasus Simulator is a framework built on top of NVIDIA Omniverse and Isaac Sim. It is designed to provide an easy yet powerful way of simulating the dynamics of vehicles. It provides a simulation interface for PX4 integration as well as a custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions.
Check the provided documentation here to discover how to install and use this framework.
If you find Pegasus Simulator useful in your academic work, please cite the paper below. It is also available here.
@misc{jacinto2023pegasus,
title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation},
author={Marcelo Jacinto and João Pinto and Jay Patrikar and John Keller and Rita Cunha and Sebastian Scherer and António Pascoal},
year={2023},
eprint={2307.05263},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
This simulation framework is an open-source effort, started by me, Marcelo Jacinto in January/2023. It is a tool that was created with the original purpose of serving my Ph.D. workplan for the next 4 years, which means that you can expect this repository to be mantained, hopefully at least until 2027.
Also check the always up-to-date Github contributors list with all the open-source contributors.
An high level project roadmap is available here.
We welcome new contributions from the community to improve this work. Please check the Contributing section in the documentation for the guidelines on how to help improve and support this project.
Pegasus Simulator is released under BSD-3 License. The license files of its dependencies and assets are present in the docs/licenses
directory.
NVIDIA Isaac Sim is available freely under individual license.
PX4-Autopilot is available as an open-source project under BSD-3 License.
The work developed by Marcelo Jacinto and João Pinto was supported by Ph.D. grants funded by Fundação para a Ciência e Tecnologia (FCT).