whycon

This repository intends to enable autonomous drone delivery with the Intel Aero RTF drone and PX4 autopilot. The code can be executed both on the real drone or simulated on a PC using Gazebo. Its core is a robot operating system (ROS) node, which communicates with the PX4 autopilot through mavros. It uses SVO 2.0 for visual odometry, WhyCon for …

Swarm of quad-copter in tight, synchronised formations around a target.

ROS 2 detector for WhyCon and WhyCode fiducial markers in C++20: finds each marker, decodes its ID, estimates its 6-DoF pose and tracks it, in about 1.3 ms of one CPU core per 1280x720 frame. Runs as a node or a composable component; benchmarked against AprilTag in Isaac Sim.

Isaac Sim 6.2 warehouse scene for benchmarking fiducial marker detectors in ROS 2 Jazzy: a Nova Carter drives past WhyCode, WhyCon or AprilTag markers and records the camera with exact per-frame ground truth to a bag, with replay and scoring tools. The Gazebo Harmonic version is on the jazzy-harmonic branch.

Benchmark for the WhyCode fiducial marker detector in ROS 2 and Isaac Sim: records a robot driving past markers with exact ground truth, then scores WhyCode, WhyCon, AprilTag 3, Isaac ROS and OpenCV ArUco on range, accuracy, viewing angle and CPU. Docker setup, demo launcher and bags on Hugging Face.