Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs offers flexibility, cost savings, and reduced risk. The system creates a simulated quadcopter capable of autonomously travelling in an indoor environment using the gazebo simulation tool and the ros navigation system framework known as Navigaation2. While Nav2 has successfully shown the functioning of autonomous navigation in terrestrial robots and vehicles, the same hasn't been accomplished with unmanned aerial vehicles and still has to be done. The goal is to use the slam toolbox for ROS and the Nav2 navigation system framework to construct a simulated drone that can move autonomously in an indoor (gps-less) environment.

翻译：无人机是自主数据采集和室内感知领域富有前景的技术。在人类操控的无人机可能不实用或不可靠的情况下，例如在未知或危险区域，使用自主无人机可提供灵活性、成本节约和风险降低。该系统利用Gazebo仿真工具和名为Navigation2的ROS导航系统框架，创建了一个能够在室内环境中自主飞行的模拟四旋翼无人机。尽管Nav2已成功展示了地面机器人和车辆中自主导航的功能，但在无人机领域尚未实现相同目标，仍有待完成。本项目旨在使用ROS的SLAM工具箱和Nav2导航系统框架，构建一个能够在室内（无GPS）环境中自主移动的模拟无人机。