fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lyrical showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

fastswarmsim repository

fss_bringup fss_px4_sim fss_sensing fss_time fss_time_interfaces

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/shupx/FastSwarmSim.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fss_bringup	0.1.1
fss_px4_sim	0.1.1
fss_sensing	0.1.1
fss_time	0.1.1
fss_time_interfaces	0.1.1

README

FastSwarmSim

Documentation: https://shupx.github.io/FastSwarmSim/

FastSwarmSim (fss) is a lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles. It combines a streamlined PX4 runtime, MAVROS-compatible ROS interfaces, local LiDAR point-cloud rendering, RViz visualization, and a conservative lock-step simulation clock. The simulator is intended for multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.

Multi-drone PX4 simulation in RViz

Performance: On a desktop-class computer with LiDAR simulation disabled, FastSwarmSim can run a single vehicle at up to 100x real time, five vehicles at 50x, ten vehicles at 30x, and one hundred vehicles at 4x. This performance comes from the trimmed PX4 core, lightweight MAVROS modules, and efficient lock-step simulation-time system.

Packages

Package	Purpose
`fss_bringup`	Integrated launch files for complete single- and multi-drone PX4/LiDAR/RViz simulations.
`fss_px4_sim`	PX4-based quadrotor simulation runtime, MAVROS Lite bridge, ideal quadrotor dynamics, MAVROS-compatible perfect-drone baseline, and RViz vehicle visualization.
`fss_sensing`	Local LiDAR point-cloud simulator. It renders the visible cloud from a vehicle pose against a static PCD map through the bundled `marsim_render` library.
`fss_time`	ZeroMQ-based conservative lock-step time coordinator, `/clock` publisher, simulation-speed controls, and C++ helpers/executors for time-synchronized ROS 2 nodes. NOT only for FastSwarmSim, but for all types of ROS nodes
`fss_time_interfaces`	ROS 2 message and service definitions used by `fss_time`, including simulation clock control interfaces.

Supported Platforms

Operating system	ROS 2 distribution
Ubuntu 22.04	ROS 2 Humble
Ubuntu 24.04	ROS 2 Jazzy

The standard PX4 simulation uses a trimmed PX4 v1.13.3 control stack with MAVROS Lite. For algorithm tests that do not require PX4 control or vehicle dynamics, the perfect-drone launch provides immediate MAVROS-compatible command tracking.

Installation

The project is developed for Ubuntu 22.04 with ROS 2 Humble. Ubuntu 24.04 with ROS 2 Jazzy follows the same process, although package names can differ by ROS distribution.

Install ROS 2, colcon, and rosdep by following the ROS 2 installation guide. The guide also includes solutions for common network issues.

Initialize rosdep once on a new machine, then clone and build the workspace. rosdep install resolves the required system and ROS dependencies:

sudo rosdep init
rosdep update

git clone https://github.com/shupx/FastSwarmSim.git

# for chinese users
git clone https://gitee.com/shu-peixuan/FastSwarmSim.git  

cd FastSwarmSim

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Source install/setup.bash in every new terminal before running the commands below.

Common Launch Commands

Time coordinator

ros2 launch fss_time time_coordinator.launch.py

Set a maximum simulation speed when needed:

ros2 launch fss_time time_coordinator.launch.py max_real_time_factor:=2.0

PX4 and perfect-drone simulation

ros2 launch fss_px4_sim px4_rotor_sim_single.launch.py
ros2 launch fss_px4_sim px4_rotor_sim_multi.launch.py num_drones:=5
ros2 launch fss_px4_sim perfect_mavros_drone_swarm.launch.py num_drones:=5

Local LiDAR point cloud

ros2 launch fss_sensing fss_local_pointcloud_sim.launch.py

Integrated PX4, LiDAR, and RViz scenes

ros2 launch fss_bringup sim_px4_drone_lidar_single.launch.py
ros2 launch fss_bringup sim_px4_drone_lidar_multi.launch.py num_drones:=3

Single-drone PX4 and LiDAR simulation in RViz

Further Documentation

File truncated at 100 lines see the full file

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

Installation

Common Launch Commands

Further Documentation

CONTRIBUTING

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

Installation

Common Launch Commands

Further Documentation

CONTRIBUTING

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

Installation

Common Launch Commands

Further Documentation

CONTRIBUTING

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

Installation

Common Launch Commands

Further Documentation

CONTRIBUTING

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

Installation

Common Launch Commands

Further Documentation

CONTRIBUTING

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

Installation

Common Launch Commands

Further Documentation

CONTRIBUTING

fastswarmsim repository

ROS Distrohumble

Repository Summary

Packages

README

FastSwarmSim

Packages

Supported Platforms

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble