Update links 18th of November (#69)

* Update simulation.md * Update simulation.md * Update hardware.md * Update auto pilot suite latest versions * Update aerial_autonomy_stacks.md * table fix * Update middleware_and_drivers.md * Update safety management links * aerial_autonomy_stacks.md: Typo fixed * aerial_autonomy_stacks.md: Broken link fixed --------- Co-authored-by: Alexis Guijarro <totonzx@gmail.com>
ROS-Aerial · Nov 24, 2024 · b326609 · b326609
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diff --git a/docs/aerial_autonomy_stacks.md b/docs/aerial_autonomy_stacks.md
@@ -6,39 +6,33 @@ Based on [this discussion in Discourse]( https://discourse.ros.org/t/more-aerial
 
 ## Comparison
 
-From the paper
+Adapted and appended from the paper:
 
 > Fernandez-Cortizas, Miguel, et al. "Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems." arXiv preprint arXiv:2303.18237 (2023).
 
 the following autonomy stack table was extracted and adapted.
 
-| Flight stack   | OS/OC | Modular | Tested in | Middleware | last  update | MF  | RO  | MA  | MP  | PO  |
-| -------------- | ----- | ------- | --------- | ---------- | ------------ | --- | --- | --- | --- | --- |
-| Aerostack      | ✓    | ✓      | S,RIL,ROL   | ROS        | 10/2021      | ✗  | ✓  | ✓  | ✓  | ✗  |
-| Aerostack2     | ✓    | ✓      | S,RIL,ROL   | ROS 2      | 03/2023      | ✓  | ✓  | ✓  | ✓  | ✓  |
-| AerialCore     | ✓    | ✓      | S,RIL,ROL   | ROS        | 03/2023      | ✓  | ✓  | ✓  | ✗  | ✓  |
-| Agilicious     | ✓    | ✓      | S,RIL      | ROS        | 03/2023      | ✗  | ✓  | ✗  | ✗  | ✗  |
-| KumarRobotics  | ✓    | ✗      | S,RIL,ROL   | ROS        | 12/2022      | ✗  | ✓  | ✗  | ✓  | ✗  |
-| CrazyChoir     | ✓    | ✗      | S,RIL      | ROS 2      | 02/2023      | ✗  | ✓  | ✓  | ✗  | ✗  |
-| UAL            | ✓    | ✗      | S,RIL,ROL   | ROS        | 12/2022      | ✓  | ✗  | ✗  | ✓  | ✗  |
-| XTDrone        | ✓    | ✓      | S         | ROS        | 03/2023      | ✗  | ✓  | ✗  | ✗  | ✗  |
-| RotorS         | ✓    | ✓      | S         | ROS        | 07/2021      | ✗  | ✓  | ✗  | ✗  | ✗  |
-| GAAS           | ✓    | ✓      | S         | ROS        | 10/2021      | ✗  | ✗  | ✗  | ✗  | ✗  |
-| MRS AUV System | ✓    | ✓      | S,RIL,ROL   | ROS        | 09/2023      | ✓  | ✓  | ✓  | ✓  | ✗  |
-| Crazyswarm     | ✓    | ✗      | S,RIL      | ROS        | 12/2022      | ✗  | ✓  | ✓  | ✗  | ✗  |
-| Crazyswarm2     | ✓    | ✓      | S,RIL      | ROS 2       | 09/2023      | ✗  | ✓  | ✓  | ✗  | ✓  |
-
-
-**Abbrivations**
-* OS/OC: Open source or Open code
-* S: Experiments in simulation
-* RIL: Experiments in the lab
-* ROL: Experiments outside the lab
-* MF: Multi-frame
-* RO: Rate output
-* MA: Multi agent
-* MP: Multi platform
-* PO: Plugin oriented
+| Flight stack   |  Middleware | last  update |
+| -------------- | ----- | ------- |
+| [Aerostack(1)](https://github.com/cvar-upm/aerostack/wiki)       | ROS        | 10/2021      |
+| [Aerostack2](https://aerostack2.github.io/)       | ROS 2      | 08/2024      | 
+| [Agilicious](https://agilicious.readthedocs.io/en/latest/index.html)       | ROS        | 03/2023      | 
+| [KumarRobotics Autonomy Stack](https://github.com/KumarRobotics/kr_autonomous_flight)  | ROS        | 2022     |
+| [CrazyChoir](https://github.com/OPT4SMART/crazychoir)     | ROS 2      | 09/2024    |
+| [UAL](https://github.com/grvcTeam/grvc-ual)            | ROS        | 12/2022      |
+| [XTDrone](https://github.com/robin-shaun/XTDrone)       | ROS        | 03/204      | 
+| [RotorS](https://github.com/ethz-asl/rotors_simulator)         | ROS        | 07/2021      |
+| [GAAS](https://github.com/generalized-intelligence/GAAS)           | ROS        | 10/2021      | 
+| [MRS AUV System](https://github.com/ctu-mrs/mrs_uav_system)   | ROS        | 10/2024     |
+| [Crazyswarm2](https://imrclab.github.io/crazyswarm2/)         | ROS 2        | 11/2024     |
+| [Crazyswarm(1)](https://crazyswarm.readthedocs.io/en/latest/)    | ROS        | 12/2022      | 
+
+Other Autonomy stacks:
+
+* [Hector quadrotor](http://wiki.ros.org/hector_quadrotor)
+* [Clover](https://github.com/CopterExpress/clover)
+* [HKUST-Aerial-Robotics](https://github.com/HKUST-Aerial-Robotics)
+
 
 ## VIO packages
 
@@ -48,36 +42,16 @@ Here is a list of VIO packages that people can use if they have a [depth camera]
 
 - [OpenVins](https://github.com/rpng/open_vins?tab=readme-ov-file) (ROS1/ROS2):
 - [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) stand alone
-- [SLAMcore](https://www.slamcore.com/product/) stand alone SDK
+- [SLAMcore](https://www.slamcore.com/products/slamcore-sdk/) stand alone SDK
 - [ORB-SLAM3 ROS2](https://github.com/suchetanrs/ORB-SLAM3-ROS2-Docker)
 
 ### Visual Odometry Datasets
 
 - [Kaggle Zurich Urban Micro Aerial Vehicle](https://www.kaggle.com/datasets/mrisdal/zurich-urban-micro-aerial-vehicle)
 - [Kaggle Underwater forward-looking VI dataset](https://www.kaggle.com/datasets/viseaonlab/flsea-vi)
 - [The Air Lab Datasets](https://theairlab.org/datasets/)
-- [VICON ROS2 bag file Google drive](https://drive.google.com/drive/folders/1xQ1KcZhZ5pioPXTyrZBN6Mjxkfpcd_B3)
 - [The UZH FPV Dataset](https://fpv.ifi.uzh.ch/datasets/)
 
-## Working list autonomy stacks
-
-This is just a list of autonomy stacks with links, such that later we can add them to the overview.
-
-Working list:
-
-* [Aerostack2](https://aerostack2.github.io/)
-* [Aerostack(1)](https://github.com/cvar-upm/aerostack/wiki)
-* [KumarRobotics Autonomy Stack](https://github.com/KumarRobotics/kr_autonomous_flight)
-* [Agilicious](https://agilicious.readthedocs.io/en/latest/index.html)
-* [Crazyswarm2](https://imrclab.github.io/crazyswarm2/)
-* [Crazyswarm(1)](https://crazyswarm.readthedocs.io/en/latest/)
-* [MRS UAV System](https://github.com/ctu-mrs/mrs_uav_system)
-* [Hector quadrotor](http://wiki.ros.org/hector_quadrotor)
-* [RotorS](https://github.com/ethz-asl/rotors_simulator)
-* RISE [paper](https://doi.org/10.55417/fr.2023015)
-* [MRS AUV System](https://github.com/ctu-mrs/mrs_uav_system)
-* [Clover](https://github.com/CopterExpress/clover)
-* [/HKUST-Aerial-Robotics](https://github.com/HKUST-Aerial-Robotics)
 
 ## Partial autonomy packages
 
@@ -86,7 +60,7 @@ A list of packages which don't comprise a full stack but do offer value on top o
 * [MAVROS Controllers](https://github.com/Jaeyoung-Lim/mavros_controllers)
 
 ## Indoor navigation packages
-Given the above [Aerial Autonomy Stacks](https://github.com/ROS-Aerial/aerial_robotic_landscape/blob/main/aerial_autonomy_stacks.md#aerial-autonomy-stacks), the list below outlines specific implementations of indoor navigation software packages in ROS, running on aerial vehicle platforms. The list, though not exhaustive, provides a good overview of available off-the-shelf non-commercial software.
+Given the above [Aerial Autonomy Stacks](https://github.com/ROS-Aerial/aerial_robotic_landscape/blob/main/docs/aerial_autonomy_stacks.md#aerial-autonomy-stacks), the list below outlines specific implementations of indoor navigation software packages in ROS, running on aerial vehicle platforms. The list, though not exhaustive, provides a good overview of available off-the-shelf non-commercial software.
 
 | Package name        | OS/OC | Sensors required         | Middleware | Simulator | Platform/controller | Last updated  |
 | ------------------- | ----- | ------------------------ | ----------- | ----------| ------------------- | ------------- |

diff --git a/docs/autopilots_suites.md b/docs/autopilots_suites.md
@@ -4,13 +4,13 @@ There are several autopilot suites available for control-boards for aerial vehic
 
 |Autopilot suite| startup year | latest version |  OS licence | ROS support| supported vehicles |
 |---| --- | --- | --- | --- | --- |
-| [Ardupilot](https://ardupilot.org/) ([GitHub](https://github.com/ArduPilot/ardupilot)) | 2009 | 4.5.2 (05/24) |  GPL 3.0 | yes | Copters, Fixed wings, VTOL |
-| [Betaflight](https://betaflight.com/) ([GitHub](https://github.com/betaflight/betaflight)) | 2015 | 4.5.0 (04/24) |  GPL 3.0 | no  | Copters |
-| [crazyflie-firmware](https://www.bitcraze.io/) ([GitHub](https://github.com/bitcraze/crazyflie-firmware))  | 2011 | 2024.2 |  GPL 3.0 | yes* | Quadcopters, Flapping wings |
-|  [DJI autopilot](https://developer.dji.com/) ([GitHub](https://github.com/dji-sdk/Onboard-SDK-ROS)) | 2006 | 2023.9 | closed | yes |  Copters, VTOLS |
-| [Paparazzi](https://wiki.paparazziuav.org/wiki/Main_Page) ([GitHub](https://github.com/paparazzi/paparazzi))   | 2003 | 6.3.0 (12/23)  | GPL 2.0 | no | Copters, Fixed wings, VTOL |
-| [PX4](https://px4.io/) ([GitHub](https://github.com/PX4/PX4-Autopilot)) | 2009 | 1.14.0 (10/23)  |BSD 3-Clause | yes | Copters, Fixed wings, VTOL |'
-| [ROSflight](https://docs.rosflight.org/v1.3/) ([GitHub](https://github.com/rosflight/rosflight_firmware)) | 2019 | 2.2.0 beta (09/23)  |BSD 3-Clause | yes | Copters, fixed wings |
+| [Ardupilot](https://ardupilot.org/) ([GitHub](https://github.com/ArduPilot/ardupilot)) | 2009 | 4.5.7 (10/24) |  GPL 3.0 | yes | Copters, Fixed wings, VTOL |
+| [Betaflight](https://betaflight.com/) ([GitHub](https://github.com/betaflight/betaflight)) | 2015 | 4.5.1 (06/24) |  GPL 3.0 | no  | Copters |
+| [crazyflie-firmware](https://www.bitcraze.io/) ([GitHub](https://github.com/bitcraze/crazyflie-firmware))  | 2011 | 2024.10 |  GPL 3.0 | yes* | Quadcopters, Flapping wings |
+|  [DJI autopilot](https://developer.dji.com/) ([GitHub](https://github.com/dji-sdk/Onboard-SDK-ROS)) | 2006 | 3.6 (02/2018) | closed | yes |  Copters, VTOLS |
+| [Paparazzi](https://wiki.paparazziuav.org/wiki/Main_Page) ([GitHub](https://github.com/paparazzi/paparazzi))   | 2003 | 6.4.0 (04/24)  | GPL 2.0 | no | Copters, Fixed wings, VTOL |
+| [PX4](https://px4.io/) ([GitHub](https://github.com/PX4/PX4-Autopilot)) | 2009 | 1.15.1 (11/24)  |BSD 3-Clause | yes | Copters, Fixed wings, VTOL |'
+| [ROSflight](https://docs.rosflight.org/v1.3/) ([GitHub](https://github.com/rosflight/rosflight_firmware)) | 2019 | 1.3.0 (03/20)  |BSD 3-Clause | yes | Copters, fixed wings |
 
 *community provided support
 

diff --git a/docs/hardware.md b/docs/hardware.md
@@ -8,22 +8,33 @@ These are platforms that are currently commercially available for anybody to buy
 
 ### Copters
 
-- Holybro:
+Holybro:
+
    - [PX4 Vision Dev Kit V1.5](https://holybro.com/collections/multicopter-kit/products/px4-vision-dev-kit-v1-5)
-- ModalAI:
+
+ModalAI:
+
    - [PX4 Autonomy Dev Kit](https://www.modalai.com/products/px4-autonomy-developer-kit?variant=46969885950256)
    - [Starling 2](https://www.modalai.com/products/starling-2?variant=48173890175280) and [Starling 2 Max](https://www.modalai.com/products/starling-2-max?variant=48172375310640)
-- [Crazyflie 2.1 - Bitcraze](https://www.bitcraze.io/products/crazyflie-2-1/)
+- [PX4 Autonomy Developer Kit](https://www.modalai.com/collections/drones/products/px4-autonomy-developer-kit)
+
+Duckietown:
+
+- [Duckiedrone DD21](https://get.duckietown.com/products/duckiedrone-dd21)
+- [Duckiedrone DD24](https://get.duckietown.com/products/autonomous-raspberrypi-quadcopter-duckiedrone-dd24)
+
+Fly4Future:
+
+- [Fly4Future Robofly](https://fly4future.com/robofly/)
+- [FLy4Future custom drone designs](https://fly4future.com/custom-drones/)
+
+Other:
+
 - [NXP HoverGames Kit](https://www.nxp.com/design/designs/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66) official hardware for the yearly [HoverGames Challenge](https://www.hovergames.com)
-- Duckietown:
-    - [Duckiedrone DD21](https://get.duckietown.com/products/duckiedrone-dd21)
-    - [Duckiedrone DD24](https://get.duckietown.com/products/autonomous-raspberrypi-quadcopter-duckiedrone-dd24)
-- [Clover by Coex](https://coex.tech/clover)
-- [PX4 Autonomy Developer Kit by ModelAI](https://www.modalai.com/collections/drones/products/px4-autonomy-developer-kit)
+- [Clover by Coex](https://clover.coex.tech/en/)
 - [Droneblocks DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/)
 - [3DR Quad Zero Kit](https://store.3dr.com/3dr-quad-zero-kit/)
-- [Fly4Future Robofly](https://fly4future.com/robofly/)
-- [FLy4Future custom drone designs](https://fly4future.com/custom-drones/)
+- [Crazyflie 2.1+ - Bitcraze](https://www.bitcraze.io/products/crazyflie-2-1-plus/)
 
 ### Flapping wing
 
@@ -34,21 +45,15 @@ These are platforms that are currently commercially available for anybody to buy
 - [Tricopter voliro AG](https://voliro.com/)
 - [DJI M300](https://enterprise.dji.com/matrice-300)
 
-
 ## Inhouse-developed platforms
 
-These are platforms that are standard within a lab or department, with information of what it contains provided with perhaps build instructions.,
+These are platforms that are standard within a lab or department, with information of what it contains provided with perhaps build instructions:
 
 -  [Agilicous - University of Zurich](https://agilicious.readthedocs.io/en/latest/index.html)
 -  [ModQuad - Lehigh University](http://swarmslab.com/projects/)
 -  [RMF-Owl - Norwegian University of Science and Technology](https://ieeexplore.ieee.org/document/9836115)
 -  [MiniHawk-VTOL](https://github.com/StephenCarlson/MiniHawk-VTOL)
 
-## Discontinued Platforms
-
-- DJI M100
-- [DJI tello](https://store.dji.com/se/shop/tello-series)
-
 
 ## Components
 
@@ -58,29 +63,35 @@ Many of the UAVs are usually built by hand and composed of different components.
 
 Many drone frames are usually built from carbon fiber and custom-made for application or research.
 There are some frames that are provided that will provide some base:
+
 - [DJI Flame wheel ARF kit F550, F450, F330](https://www-v1.dji.com/flame-wheel-arf/feature.html)
 - [Momentum Drones DEV-7](https://momentumdrones.com/products/dev7-frame-kit)
 
 ### Flight controllers
-- Holybro
+
+Holybro:
+
    -  [Pixhawk 4](https://docs.px4.io/main/en/flight_controller/pixhawk4.html) 
    -  [Holybro Pixhawk 6C](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk-6c)
    -  [Holybro Pixhawk 6X](https://holybro.com/products/pixhawk-6x)
    -  [Holybro Pixhawk 6X PRO](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk-6x-pro)
--  [CUAV's Pixhawk V6x](https://doc.cuav.net/flight-controller/pixhawk-v6x/en/#building-firmware)
--  mRobotics/3DR
-   - [mRo PixRacer R15](https://store.mrobotics.io/product-p/auav-pxrcr-r15-mr.htm) discontinued, go look at:
+
+mRobotics/3DR:
+
    - [mRo PixRacerPro](https://store.3dr.com/pixracer-pro/)
    - [3DR Control Zero Classic](https://store.3dr.com/control-zero-classic/)
    - [3DR Control Zero H7 OEM](https://store.3dr.com/control-zero-h7-oem/)
    - [3DR Reference Design Carrier Board](https://store.3dr.com/reference-design-carrier-board/)
    - [3DR "Stick" Adapter (Carrier Board)](https://store.3dr.com/stick-adapter-carrier-board/)
+
+Bitcraze:
+
 - [Crazyflie Bolt 1.1](https://www.bitcraze.io/products/crazyflie-bolt-1-1/)
-- ARK Electronics
-   - [ARK Electronics ARKV6X](https://arkelectron.com/product/arkv6x)
-   - [ARK Electronics Pi6X Flow](https://arkelectron.com/product/ark-pi6x-flow/)
 
+ARK Electronics
 
+   - [ARK Electronics ARKV6X](https://arkelectron.com/product/arkv6x)
+   - [ARK Electronics Pi6X Flow](https://arkelectron.com/product/ark-pi6x-flow/)
 
 ### Companion Computers
 
@@ -90,17 +101,18 @@ Some companion computers also integrate flight control (RTOS) hardware in the sa
 
 - [Nvidia Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-xavier-nx/) or the [TX2 Module](https://developer.nvidia.com/embedded/jetson-tx2)
 - [Nvidia Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
-- [Intel Nuc Boards](https://www.intel.com/content/www/us/en/products/details/nuc/boards/products.html)
-- [Raspberry PI 3 (A+)](https://www.raspberrypi.com/products/raspberry-pi-3-model-a-plus/) or [Raspberry Pi 4](https://www.raspberrypi.com/products/raspberry-pi-4-model-b/)
+- [ASUS NUC Boards](https://www.asus.com/se/displays-desktops/nucs/nuc-mini-pcs/asus-nuc-14-pro/)
+- [Raspberry PI  (A+)](https://www.raspberrypi.com/products/raspberry-pi-5/)
 - [Khadas Vim3](https://www.khadas.com/vim3)
 - [Odroid (various boards)](https://www.hardkernel.com/product-category/odroid-board/)
 - [NXP NAVQPlus](https://www.nxp.com/design/designs/navqplus-ai-ml-companion-computer-evk-for-mobile-robotics-ros-ground-stations-and-camera-heads:8MPNAVQ)
-- [Qualcomm RB5](https://developer.qualcomm.com/qualcomm-robotics-rb5-kit)
-- [MRD5165 Eagle Kit](https://www.mistralsolutions.com/product/mrd5165-eagle-kit/) (coming soon)
+- [Qualcomm RB5](https://www.qualcomm.com/developer/hardware/robotics-rb5-development-kit)
+- [MRD5165 Eagle Kit](https://www.mistralsolutions.com/product/mrd5165-eagle-kit/)
 - [VOXL 2 by Model AI](https://www.modalai.com/collections/blue-uas-framework-components/products/voxl-2)
 - [EchoPilot AI](https://echomav.com/product/echopilot-ai/)
 - [AMD Xilinx Kria Starter Kits](https://www.amd.com/en/products/system-on-modules/kria.html)
 - [LattePanda x86 boards](https://www.lattepanda.com/)
+- 
 ### Carrier boards
 Several vendors have developed carrier boards that can expose input/output ports of companion computers mentioned above which are packaged in a System-on-Module (SoM) form factor and also offer a standard interface for plugging in popular flight controllers/their own FCs.
 
@@ -112,7 +124,6 @@ Several vendors have developed carrier boards that can expose input/output ports
 - [Airvolute DroneCore2 Jetson + Cube](https://airvolute.com/dronecore-2/)
 
 ### Depth Cameras
-- [Intel RealSense T265 ](https://www.intel.com/content/www/us/en/products/sku/192742/intel-realsense-tracking-camera-t265/specifications.html) Discontinued, look at:
   - [RealSense D455](https://www.intelrealsense.com/depth-camera-d455/)
   - [RealSense D435i](https://www.intelrealsense.com/depth-camera-d435i/)
 - Oak-d Series like [OAK-D Pro](https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9098pro/) or [OAK-D-Lite](https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9095/)

diff --git a/docs/middleware_and_drivers.md b/docs/middleware_and_drivers.md
@@ -8,7 +8,7 @@ Enabling low overhead publish/subscribe on microcontrollers:
 
 1. [Micro-XRCE-DDS](https://github.com/eProsima/Micro-XRCE-DDS)
 2. [Zenoh](https://github.com/eclipse-zenoh/zenoh-plugin-dds)
-3. [PX4-FastRTPS](https://github.com/eProsima/px4_to_ros) - superceded by Micro-XRCE-DDS (https://docs.px4.io/main/en/middleware/uxrce_dds.html)
+3. [PX4-FastRTPS](https://github.com/eProsima/px4_to_ros) - superceded by [Micro-XRCE-DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)
 
 ## Driver packages for drone platforms