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This is the wiki for the X navigation framework.
X is powered by a generic C++ library for real-time robot navigation using visual, thermal, range, solar, GPS and inertial measurements. It also includes a wrapper for real-time state estimation with ROS.
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Extended Navigation Capabilities for a Future Mars Science Helicopter Concept (IEEE Aerospace '20).
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Thermal-Inertial Odometry for Autonomous Flight Throughout the Night (IROS '19)
X is maintained for:
- Ubuntu LTS 16.04, 18.04. 20.04;
- ROS Kinetic, Lunar, Melodic, Noetic;
- x86 and ARM architectures.
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The X library: a C++ library which contains EKF, VIO, and vision modules.
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x_vio_ros: a ROS wrapper the xVIO module of the X library.
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Naming:
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Software modules within the X framework should be named after the core function that they perform, after the prefix
x. Examples are xVIO, xEKF, xSim, etc. This pattern not only enables clear and unique names, but also good branding for the framework. -
All repositories including including code done for the X framework should start with the prefix
x_, even if it is just one branch forked from an open-source repo, e.g x_opencv3_catkin. This serves to quickly identify any project which has X code in it, and avoid accidental deletion.
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