{
  "schema_version": 1,
  "updated_at": "2026-08-06T11:33:30+08:00",
  "project": "PX4 3D LiDAR Navigation Demo",
  "repository": "https://github.com/albert17github/PX4-3D-LiDAR-Nav-Demo",
  "license": "Apache-2.0",
  "status": "reference_demo_verified",
  "scope": "Static-obstacle PX4 SITL navigation in Gazebo with online 3D mapping and automatic landing",
  "reference_environment": {
    "operating_system": "Ubuntu 24.04 LTS Desktop",
    "architecture": "x86_64",
    "ros": "ROS 2 Jazzy",
    "simulator": "Gazebo Harmonic",
    "px4": "v1.17.0",
    "mavros": "2.14.0"
  },
  "reference_result": {
    "startup_seconds": 248,
    "path_points": 8,
    "path_length_m": 12.753,
    "max_cross_track_m": 3.111,
    "minimum_obstacle_center_distance_m": 2.856,
    "minimum_required_center_distance_m": 1.35,
    "goal_error_m": 0.04,
    "maximum_allowed_goal_error_m": 0.4,
    "terminal_mode": "AUTO.LAND",
    "landed_and_disarmed": true
  },
  "images": [
    {"name": "Gazebo obstacle world", "href": "assets/gazebo-world-ready.png"},
    {"name": "RViz online 3D map", "href": "assets/rviz-map-ready.png"},
    {"name": "RViz planned path", "href": "assets/rviz-flight-path.png"},
    {"name": "Gazebo landing at goal", "href": "assets/gazebo-landed-b.png"}
  ],
  "limitations": [
    "SITL research demo; not flight-certified software",
    "Static obstacles only",
    "The current planner configuration allows travel through unknown space",
    "Real-vehicle deployment requires independent calibration, timing and safety validation"
  ]
}