ROS 2 Jazzy workspace for LiDAR–IMU odometry, propagated odometry, and PX4 external-vision integration. Runtime validation has three entrypoints:
make build
make test
make replay DATASET=aist-mid360-drive RATE=1.0
make dataset-check DATASET=aist-mid360-drive RATE=1.0
make sim-check
make sim
make status
make stop
make cleanmake sim-check is headless and runs the deterministic offboard trajectory.
make sim starts the same PX4/Gazebo/LIO stack with the Gazebo GUI and waits
for manual control; it has no automatic flight scenario and always starts
RViz. make replay is the dataset workflow with RViz enabled; use
make dataset-check for the headless dataset contract. Set PX4_DIR when the
PX4 checkout is outside $HOME/Dev/Autopilot.
Prepared datasets live outside the repository under UAV_NAV_DATA_HOME (or
the platform data directory). Runtime sessions and reports are written to
.artifacts/runtime/; they are local evidence and are not committed. Read
runtime validation for prerequisites, topic
contracts, verdict semantics, and troubleshooting.
The workspace contains the estimator core, ROS adapters, PX4 bridge, Gazebo
assets, and the four canonical runtime YAML files under config/runtime/.
There is no runtime Git-SHA compatibility gate.