[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"similar-PegasusSimulator--PegasusSimulator":3,"tool-PegasusSimulator--PegasusSimulator":65},[4,23,32,40,49,57],{"id":5,"name":6,"github_repo":7,"description_zh":8,"stars":9,"difficulty_score":10,"last_commit_at":11,"category_tags":12,"status":22},2268,"ML-For-Beginners","microsoft\u002FML-For-Beginners","ML-For-Beginners 是由微软推出的一套系统化机器学习入门课程，旨在帮助零基础用户轻松掌握经典机器学习知识。这套课程将学习路径规划为 12 周，包含 26 节精炼课程和 52 道配套测验，内容涵盖从基础概念到实际应用的完整流程，有效解决了初学者面对庞大知识体系时无从下手、缺乏结构化指导的痛点。\n\n无论是希望转型的开发者、需要补充算法背景的研究人员，还是对人工智能充满好奇的普通爱好者，都能从中受益。课程不仅提供了清晰的理论讲解，还强调动手实践，让用户在循序渐进中建立扎实的技能基础。其独特的亮点在于强大的多语言支持，通过自动化机制提供了包括简体中文在内的 50 多种语言版本，极大地降低了全球不同背景用户的学习门槛。此外，项目采用开源协作模式，社区活跃且内容持续更新，确保学习者能获取前沿且准确的技术资讯。如果你正寻找一条清晰、友好且专业的机器学习入门之路，ML-For-Beginners 将是理想的起点。",84991,2,"2026-04-05T10:45:23",[13,14,15,16,17,18,19,20,21],"图像","数据工具","视频","插件","Agent","其他","语言模型","开发框架","音频","ready",{"id":24,"name":25,"github_repo":26,"description_zh":27,"stars":28,"difficulty_score":29,"last_commit_at":30,"category_tags":31,"status":22},3128,"ragflow","infiniflow\u002Fragflow","RAGFlow 是一款领先的开源检索增强生成（RAG）引擎，旨在为大语言模型构建更精准、可靠的上下文层。它巧妙地将前沿的 RAG 技术与智能体（Agent）能力相结合，不仅支持从各类文档中高效提取知识，还能让模型基于这些知识进行逻辑推理和任务执行。\n\n在大模型应用中，幻觉问题和知识滞后是常见痛点。RAGFlow 通过深度解析复杂文档结构（如表格、图表及混合排版），显著提升了信息检索的准确度，从而有效减少模型“胡编乱造”的现象，确保回答既有据可依又具备时效性。其内置的智能体机制更进一步，使系统不仅能回答问题，还能自主规划步骤解决复杂问题。\n\n这款工具特别适合开发者、企业技术团队以及 AI 研究人员使用。无论是希望快速搭建私有知识库问答系统，还是致力于探索大模型在垂直领域落地的创新者，都能从中受益。RAGFlow 提供了可视化的工作流编排界面和灵活的 API 接口，既降低了非算法背景用户的上手门槛，也满足了专业开发者对系统深度定制的需求。作为基于 Apache 2.0 协议开源的项目，它正成为连接通用大模型与行业专有知识之间的重要桥梁。",77062,3,"2026-04-04T04:44:48",[17,13,20,19,18],{"id":33,"name":34,"github_repo":35,"description_zh":36,"stars":37,"difficulty_score":29,"last_commit_at":38,"category_tags":39,"status":22},519,"PaddleOCR","PaddlePaddle\u002FPaddleOCR","PaddleOCR 是一款基于百度飞桨框架开发的高性能开源光学字符识别工具包。它的核心能力是将图片、PDF 等文档中的文字提取出来，转换成计算机可读取的结构化数据，让机器真正“看懂”图文内容。\n\n面对海量纸质或电子文档，PaddleOCR 解决了人工录入效率低、数字化成本高的问题。尤其在人工智能领域，它扮演着连接图像与大型语言模型（LLM）的桥梁角色，能将视觉信息直接转化为文本输入，助力智能问答、文档分析等应用场景落地。\n\nPaddleOCR 适合开发者、算法研究人员以及有文档自动化需求的普通用户。其技术优势十分明显：不仅支持全球 100 多种语言的识别，还能在 Windows、Linux、macOS 等多个系统上运行，并灵活适配 CPU、GPU、NPU 等各类硬件。作为一个轻量级且社区活跃的开源项目，PaddleOCR 既能满足快速集成的需求，也能支撑前沿的视觉语言研究，是处理文字识别任务的理想选择。",74913,"2026-04-05T10:44:17",[19,13,20,18],{"id":41,"name":42,"github_repo":43,"description_zh":44,"stars":45,"difficulty_score":46,"last_commit_at":47,"category_tags":48,"status":22},3215,"awesome-machine-learning","josephmisiti\u002Fawesome-machine-learning","awesome-machine-learning 是一份精心整理的机器学习资源清单，汇集了全球优秀的机器学习框架、库和软件工具。面对机器学习领域技术迭代快、资源分散且难以甄选的痛点，这份清单按编程语言（如 Python、C++、Go 等）和应用场景（如计算机视觉、自然语言处理、深度学习等）进行了系统化分类，帮助使用者快速定位高质量项目。\n\n它特别适合开发者、数据科学家及研究人员使用。无论是初学者寻找入门库，还是资深工程师对比不同语言的技术选型，都能从中获得极具价值的参考。此外，清单还延伸提供了免费书籍、在线课程、行业会议、技术博客及线下聚会等丰富资源，构建了从学习到实践的全链路支持体系。\n\n其独特亮点在于严格的维护标准：明确标记已停止维护或长期未更新的项目，确保推荐内容的时效性与可靠性。作为机器学习领域的“导航图”，awesome-machine-learning 以开源协作的方式持续更新，旨在降低技术探索门槛，让每一位从业者都能高效地站在巨人的肩膀上创新。",72149,1,"2026-04-03T21:50:24",[20,18],{"id":50,"name":51,"github_repo":52,"description_zh":53,"stars":54,"difficulty_score":29,"last_commit_at":55,"category_tags":56,"status":22},2181,"OpenHands","OpenHands\u002FOpenHands","OpenHands 是一个专注于 AI 驱动开发的开源平台，旨在让智能体（Agent）像人类开发者一样理解、编写和调试代码。它解决了传统编程中重复性劳动多、环境配置复杂以及人机协作效率低等痛点，通过自动化流程显著提升开发速度。\n\n无论是希望提升编码效率的软件工程师、探索智能体技术的研究人员，还是需要快速原型验证的技术团队，都能从中受益。OpenHands 提供了灵活多样的使用方式：既可以通过命令行（CLI）或本地图形界面在个人电脑上轻松上手，体验类似 Devin 的流畅交互；也能利用其强大的 Python SDK 自定义智能体逻辑，甚至在云端大规模部署上千个智能体并行工作。\n\n其核心技术亮点在于模块化的软件智能体 SDK，这不仅构成了平台的引擎，还支持高度可组合的开发模式。此外，OpenHands 在 SWE-bench 基准测试中取得了 77.6% 的优异成绩，证明了其解决真实世界软件工程问题的能力。平台还具备完善的企业级功能，支持与 Slack、Jira 等工具集成，并提供细粒度的权限管理，适合从个人开发者到大型企业的各类用户场景。",70612,"2026-04-05T11:12:22",[19,17,20,16],{"id":58,"name":59,"github_repo":60,"description_zh":61,"stars":62,"difficulty_score":10,"last_commit_at":63,"category_tags":64,"status":22},3074,"gpt4free","xtekky\u002Fgpt4free","gpt4free 是一个由社区驱动的开源项目，旨在聚合多种可访问的大型语言模型（LLM）和媒体生成接口，让用户能更灵活、便捷地使用前沿 AI 能力。它解决了直接调用各类模型时面临的接口分散、门槛高或成本昂贵等痛点，通过统一的标准将不同提供商的资源整合在一起。\n\n无论是希望快速集成 AI 功能的开发者、需要多模型对比测试的研究人员，还是想免费体验最新技术的普通用户，都能从中受益。gpt4free 提供了丰富的使用方式：既包含易于上手的 Python 和 JavaScript 客户端库，也支持部署本地图形界面（GUI），更提供了兼容 OpenAI 标准的 REST API，方便无缝替换现有应用后端。\n\n其技术亮点在于强大的多提供商支持架构，能够动态调度包括 Opus、Gemini、DeepSeek 等多种主流模型资源，并支持 Docker 一键部署及本地推理。项目秉持社区优先原则，在降低使用门槛的同时，也为贡献者提供了扩展新接口的便利框架，是探索和利用多样化 AI 资源的实用工具。",65970,"2026-04-04T01:02:03",[16,19,17],{"id":66,"github_repo":67,"name":68,"description_en":69,"description_zh":70,"ai_summary_zh":70,"readme_en":71,"readme_zh":72,"quickstart_zh":73,"use_case_zh":74,"hero_image_url":75,"owner_login":68,"owner_name":68,"owner_avatar_url":76,"owner_bio":77,"owner_company":78,"owner_location":78,"owner_email":79,"owner_twitter":78,"owner_website":80,"owner_url":81,"languages":82,"stars":99,"forks":100,"last_commit_at":101,"license":102,"difficulty_score":29,"env_os":103,"env_gpu":104,"env_ram":105,"env_deps":106,"category_tags":113,"github_topics":114,"view_count":29,"oss_zip_url":78,"oss_zip_packed_at":78,"status":22,"created_at":122,"updated_at":123,"faqs":124,"releases":155},595,"PegasusSimulator\u002FPegasusSimulator","PegasusSimulator","A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more","PegasusSimulator 是一个基于 NVIDIA Isaac Sim 构建的开源仿真框架，专为无人机动力学模拟而设计。它有效解决了在真实环境中测试飞行控制算法成本高、风险大的痛点，让用户能够在高保真的虚拟场景中安全验证多旋翼无人机的动态性能。\n\n框架深度集成了 PX4 和 ArduPilot 两大主流飞控系统，并提供灵活的 Python 控制接口，极大简化了算法开发与调试流程。虽然当前主要支持多旋翼机型，但后续版本计划扩展更多车辆拓扑结构。对于无人机领域的开发者、科研人员以及机器人技术爱好者而言，PegasusSimulator 是理想的仿真平台。它不仅保证了与最新 Isaac Sim 版本的兼容性，还通过活跃的社区维护持续优化体验。借助 PegasusSimulator，用户可以在部署前完成从算法验证到系统集成的全流程测试，显著提升研发效率与安全性。","# Pegasus Simulator\n\n![IsaacSim 5.1.0](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FIsaacSim-5.1.0-brightgreen.svg)\n![PX4-Autopilot 1.14.3](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FPX4--Autopilot-1.14.3-brightgreen.svg)\n![ArduPilot-Copter 4.4](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FArduPilot--Copter-4.4.0-brightgreen.svg)\n![Ubuntu 22.04](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FUbuntu-22.04LTS-brightgreen.svg)\n[![](https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_4f359ac50a27.png))](https:\u002F\u002Fdiscord.gg\u002FAjCxw2QUmt)\n\n**Pegasus Simulator** is a framework built on top of [NVIDIA Omniverse](https:\u002F\u002Fdocs.omniverse.nvidia.com\u002F) and [IsaacSim](https:\u002F\u002Fdocs.omniverse.nvidia.com\u002Fapp_isaacsim\u002Fapp_isaacsim\u002Foverview.html). It is designed to provide an easy yet powerful way of simulating the dynamics of vehicles. It provides a simulation interface for [PX4](https:\u002F\u002Fpx4.io\u002F) and [ArduPilot](https:\u002F\u002Fardupilot.org\u002F) integration, as well as a custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions.\n\n\u003Cp align = \"center\">\n\u003Ca href=\"https:\u002F\u002Fyoutu.be\u002F_11OCFwf_GE\" target=\"_blank\">\u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_ab9054eb54f6.png\" alt=\"Pegasus Simulator image\" height=\"300\"\u002F>\u003C\u002Fa>\n\u003Ca href=\"https:\u002F\u002Fyoutu.be\u002F_11OCFwf_GE\" target=\"_blank\">\u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_3cc671ecb5c2.gif\" alt=\"Pegasus Simulator gif\" height=\"300\"\u002F>\u003C\u002Fa>\n\u003C\u002Fp>\n\nCheck the provided documentation [here](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002F) to discover how to install and use this framework.\n\n## Latest Updates\n\n⚠️ For users of versions prior to v5.1.0:\nA new command line tool named `isaac_run` is now used to launch Isaac Sim. **This is a function that should be added to your .bashrc or .zshrc file during the installation of Isaac Sim.** See [Installation Instructions](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Fsetup\u002Finstallation.html) for more details.\n\nThis was done to simplify the launching of Isaac Sim from the terminal with ROS2 support. All previous instructions that mentioned launching Isaac Sim examples from the examples folder using the `ISAACSIM_PYTHON` command should now use `isaac_run` instead.\n\nPlease refer to the updated documentation for more details.\n\n* **2025-10-26**: Pegasus Simulator v5.1.0 is released for Isaac 5.1.0. This version is **NOT** compatible with older versions of Isaac Sim. The Ardupilot experimental interface was not tested in this version. This update had an initial open-source contribution from [Victor Kallenbach](https:\u002F\u002Fgithub.com\u002FHO4X).\n* **2025-10-25**: Pegasus Simulator v4.5.1 is released for Isaac 4.5.0. This version is **NOT** compatible with older versions of Isaac Sim. The Ardupilot experimental interface was fixed and improved by [Seunghwan Jo](https:\u002F\u002Fgithub.com\u002FSwiftGust) and [Tomer Tiplitsky](https:\u002F\u002Fgithub.com\u002FTomerTip).\n* **2025-07-20**: Pegasus Simulator v4.5.0 is released for Isaac 4.5.0. This version is **NOT** compatible with older versions of Isaac Sim. The Ardupilot experimental interface was not tested in this version.\n* **2024-11-01**: Pegasus Simulator v4.2.0 is released for Isaac 4.2.0. This version is **NOT** compatible with older versions of Isaac Sim. This version includes a new experimental interface for Ardupilot integration, provided by open-source contributor [Tomer Tiplitsky](https:\u002F\u002Fgithub.com\u002FTomerTip).\n* **2024-08-02**: Pegasus Simulator v4.1.0 is released for Isaac 4.1.0. This version is **NOT** compatible with older versions of Isaac Sim.\n\n## Citation\n\nIf you find Pegasus Simulator useful in your academic work, please cite the paper below. It is also available [here](https:\u002F\u002Fdoi.org\u002F10.1109\u002FICUAS60882.2024.10556959).\n```\n@INPROCEEDINGS{10556959,\n  author={Jacinto, Marcelo and Pinto, João and Patrikar, Jay and Keller, John and Cunha, Rita and Scherer, Sebastian and Pascoal, António},\n  booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)}, \n  title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation}, \n  year={2024},\n  volume={},\n  number={},\n  pages={917-922},\n  keywords={Simulation;Robot sensing systems;Real-time systems;Sensor systems;Sensors;Task analysis},\n  doi={10.1109\u002FICUAS60882.2024.10556959}}\n```\n\n## Main Developer Team\n\nThis simulation framework is an open-source effort, started by me, Marcelo Jacinto in January\u002F2023. It is a tool that was created with the original purpose of serving my Ph.D. workplan for the next 4 years, which means that you can expect this repository to be mantained, hopefully at least until 2027.\n\n* Project Founder\n\t* [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto), under the supervision of \u003Cu>Prof. Rita Cunha\u003C\u002Fu> and \u003Cu>Prof. Antonio Pascoal\u003C\u002Fu> (IST\u002FISR-Lisbon)\n* Architecture\n  * [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)\n  * [João Pinto](https:\u002F\u002Fgithub.com\u002Fjschpinto)\n* Multirotor Dynamic Simulation and Control\n  * [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)\n* Example Applications\n\t* [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)\n\t* [João Pinto](https:\u002F\u002Fgithub.com\u002Fjschpinto)\n* Ardupilot Integration (Experimental)\n  * [Tomer Tiplitsky](https:\u002F\u002Fgithub.com\u002FTomerTip)\n  * [Tanner Gilbert](https:\u002F\u002Fgithub.com\u002FTannerGilbert)\n  * [Seunghwan Jo](https:\u002F\u002Fgithub.com\u002FSwiftGust)\n\nAlso check the always up-to-date [Github contributors list](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fgraphs\u002Fcontributors) with all the open-source contributors.\n\n## Guidance, Control and Navigation Project\n\nIn parallel to this project, the Pegasus (GNC) guidance, control, and navigation project serves as the foundation control code for performing real-world experiments for my Ph.D. More information can be found at this link:\n[Pegasus GNC](https:\u002F\u002Fpegasusresearch.github.io\u002Fpegasus\u002F)\n\n## Project Roadmap\n\nAn high level project roadmap is available [here](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Freferences\u002Froadmap.html).\n\n## Support and Contributing\n\nWe welcome new contributions from the community to improve this work. Please check the [Contributing](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Freferences\u002Fcontributing.html) section in the documentation for the guidelines on how to help improve and support this project.\n\n* Use [Discussions](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fdiscussions) for discussing ideas, asking questions, and requests features.\n* Use [Issues](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues) to track work in development, bugs and documentation issues.\n* Use [Pull Requests](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpulls) to fix bugs or contribute directly with your own ideas, code, examples or improve documentation.\n\n## Licenses\n\nPegasus Simulator is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs\u002Flicenses`](docs\u002Flicenses) directory.\n\nNVIDIA Isaac Sim is available freely under [individual license](https:\u002F\u002Fwww.nvidia.com\u002Fen-us\u002Fomniverse\u002Fdownload\u002F). \n\nPX4-Autopilot is available as an open-source project under [BSD-3 License](https:\u002F\u002Fgithub.com\u002FPX4\u002FPX4-Autopilot).\n\n## Project Sponsors\n- Dynamics Systems and Ocean Robotics (DSOR) group of the Institute for Systems and Robotics (ISR), a research unit of the Laboratory of Robotics and Engineering Systems (LARSyS).\n- Instituto Superior Técnico, Universidade de Lisboa\n\nThe work developed by Marcelo Jacinto and João Pinto was supported by Ph.D. grants funded by Fundação para a Ciência e Tecnologia (FCT).\n\n\u003Cp float=\"left\" align=\"center\">\n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_6af297f181ce.png\" width=\"90\" align=\"center\" \u002F>\n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_e9a159a96306.png\" width=\"200\" align=\"center\"\u002F> \n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_df7f2eb0d4e8.png\" width=\"200\" align=\"center\"\u002F> \n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_fec120ae1a99.png\" width=\"200\" align=\"center\"\u002F> \n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_1f22fc0a715f.png\" width=\"200\" align=\"center\"\u002F> \n\u003C\u002Fp>\n","# Pegasus 模拟器\n\n![IsaacSim 5.1.0](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FIsaacSim-5.1.0-brightgreen.svg)\n![PX4-Autopilot 1.14.3](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FPX4--Autopilot-1.14.3-brightgreen.svg)\n![ArduPilot-Copter 4.4](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FArduPilot--Copter-4.4.0-brightgreen.svg)\n![Ubuntu 22.04](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FUbuntu-22.04LTS-brightgreen.svg)\n[![](https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_4f359ac50a27.png))](https:\u002F\u002Fdiscord.gg\u002FAjCxw2QUmt)\n\n**Pegasus 模拟器** 是一个基于 [NVIDIA Omniverse（英伟达 Omniverse 平台）](https:\u002F\u002Fdocs.omniverse.nvidia.com\u002F) 和 [IsaacSim（伊萨克仿真环境）](https:\u002F\u002Fdocs.omniverse.nvidia.com\u002Fapp_isaacsim\u002Fapp_isaacsim\u002Foverview.html) 构建的框架。它旨在提供一种简单而强大的方式来模拟车辆动力学。它为 [PX4（飞行控制系统）](https:\u002F\u002Fpx4.io\u002F) 和 [ArduPilot（自动驾驶仪系统）](https:\u002F\u002Fardupilot.org\u002F) 集成提供了仿真接口，以及一个自定义的 Python（编程语言）控制接口。目前仅支持多旋翼（multirotor）飞行器，未来版本计划支持其他车辆拓扑结构。\n\n\u003Cp align = \"center\">\n\u003Ca href=\"https:\u002F\u002Fyoutu.be\u002F_11OCFwf_GE\" target=\"_blank\">\u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_ab9054eb54f6.png\" alt=\"Pegasus Simulator image\" height=\"300\"\u002F>\u003C\u002Fa>\n\u003Ca href=\"https:\u002F\u002Fyoutu.be\u002F_11OCFwf_GE\" target=\"_blank\">\u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_3cc671ecb5c2.gif\" alt=\"Pegasus Simulator gif\" height=\"300\"\u002F>\u003C\u002Fa>\n\u003C\u002Fp>\n\n请在此处查看提供的文档 [here](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002F)，了解如何安装和使用此框架。\n\n## 最新更新\n\n⚠️ 对于使用 v5.1.0 之前版本的用戶：\n现在使用名为 `isaac_run` 的新命令行工具来启动 Isaac Sim。**这是在安装 Isaac Sim 期间应添加到您的 .bashrc 或 .zshrc 文件中的功能。** 有关更多详细信息，请参阅 [安装说明](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Fsetup\u002Finstallation.html)。\n\n这是为了简化从终端启动带有 ROS2（机器人操作系统 2）支持的 Isaac Sim。所有之前提到使用 `ISAACSIM_PYTHON` 命令从示例文件夹启动 Isaac Sim 示例的说明，现在应改用 `isaac_run`。\n\n请参考更新的文档以获取更多信息。\n\n* **2025-10-26**: Pegasus 模拟器 v5.1.0 发布，适用于 Isaac 5.1.0。此版本**不**兼容旧版本的 Isaac Sim。此版本未测试 ArduPilot 实验性接口。此次更新收到了来自 [Victor Kallenbach](https:\u002F\u002Fgithub.com\u002FHO4X) 的初始开源贡献。\n* **2025-10-25**: Pegasus 模拟器 v4.5.1 发布，适用于 Isaac 4.5.0。此版本**不**兼容旧版本的 Isaac Sim。ArduPilot 实验性接口由 [Seunghwan Jo](https:\u002F\u002Fgithub.com\u002FSwiftGust) 和 [Tomer Tiplitsky](https:\u002F\u002Fgithub.com\u002FTomerTip) 修复并改进。\n* **2025-07-20**: Pegasus 模拟器 v4.5.0 发布，适用于 Isaac 4.5.0。此版本**不**兼容旧版本的 Isaac Sim。此版本未测试 ArduPilot 实验性接口。\n* **2024-11-01**: Pegasus 模拟器 v4.2.0 发布，适用于 Isaac 4.2.0。此版本**不**兼容旧版本的 Isaac Sim。此版本包括一个新的 ArduPilot 集成实验性接口，由开源贡献者 [Tomer Tiplitsky](https:\u002F\u002Fgithub.com\u002FTomerTip) 提供。\n* **2024-08-02**: Pegasus 模拟器 v4.1.0 发布，适用于 Isaac 4.1.0。此版本**不**兼容旧版本的 Isaac Sim。\n\n## 引用\n\n如果您在学术工作中发现 Pegasus 模拟器有用，请引用以下论文。它也可以在 [此处](https:\u002F\u002Fdoi.org\u002F10.1109\u002FICUAS60882.2024.10556959) 获取。\n```\n@INPROCEEDINGS{10556959,\n  author={Jacinto, Marcelo and Pinto, João and Patrikar, Jay and Keller, John and Cunha, Rita and Scherer, Sebastian and Pascoal, António},\n  booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)}, \n  title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation}, \n  year={2024},\n  volume={},\n  number={},\n  pages={917-922},\n  keywords={Simulation;Robot sensing systems;Real-time systems;Sensor systems;Sensors;Task analysis},\n  doi={10.1109\u002FICUAS60882.2024.10556959}}\n```\n\n## 主要开发团队\n\n该仿真框架是一个开源项目，由我 Marcelo Jacinto 于 2023 年 1 月启动。这是一个最初旨在服务于我未来 4 年博士（Ph.D.）工作计划的工具，这意味着您可以期望该仓库得到维护，希望至少持续到 2027 年。\n\n* 项目创始人\n\t* [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)，在 \u003Cu>Rita Cunha 教授\u003C\u002Fu> 和 \u003Cu>Antonio Pascoal 教授\u003C\u002Fu>（IST\u002FISR-Lisbon）的指导下\n* 架构\n  * [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)\n  * [João Pinto](https:\u002F\u002Fgithub.com\u002Fjschpinto)\n* 多旋翼动态仿真与控制\n  * [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)\n* 示例应用\n\t* [Marcelo Jacinto](https:\u002F\u002Fgithub.com\u002FMarceloJacinto)\n\t* [João Pinto](https:\u002F\u002Fgithub.com\u002Fjschpinto)\n* ArduPilot 集成（实验性）\n  * [Tomer Tiplitsky](https:\u002F\u002Fgithub.com\u002FTomerTip)\n  * [Tanner Gilbert](https:\u002F\u002Fgithub.com\u002FTannerGilbert)\n  * [Seunghwan Jo](https:\u002F\u002Fgithub.com\u002FSwiftGust)\n\n此外，请查看始终最新的 [GitHub 贡献者列表](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fgraphs\u002Fcontributors)，其中包含所有开源贡献者。\n\n## 制导、控制和导航项目\n\n与本项目并行，Pegasus (GNC) 制导、控制和导航（GNC）项目作为执行我博士实地实验的基础控制代码。更多信息可在此链接找到：\n[Pegasus GNC](https:\u002F\u002Fpegasusresearch.github.io\u002Fpegasus\u002F)\n\n## 项目路线图\n\n高级项目路线图可在 [此处](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Freferences\u002Froadmap.html) 获取。\n\n## 支持与贡献\n\n我们欢迎社区的新贡献以改进这项工作。请查看文档中的 [贡献](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Freferences\u002Fcontributing.html) 部分，了解如何帮助改进和支持本项目的指南。\n\n* 使用 [讨论](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fdiscussions) 进行讨论、提问和请求功能。\n* 使用 [问题](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues) 跟踪开发中工作、错误和文档问题。\n* 使用 [拉取请求](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpulls) 修复错误或直接通过您自己的想法、代码、示例贡献，或改进文档。\n\n## 许可证\n\nPegasus Simulator 根据 [BSD-3 许可证](LICENSE) 发布。其依赖项和资产的许可证文件位于 [`docs\u002Flicenses`](docs\u002Flicenses) 目录中。\n\nNVIDIA Isaac Sim 可根据 [个人许可证](https:\u002F\u002Fwww.nvidia.com\u002Fen-us\u002Fomniverse\u002Fdownload\u002F) 免费使用。 \n\nPX4-Autopilot 作为开源项目提供，遵循 [BSD-3 许可证](https:\u002F\u002Fgithub.com\u002FPX4\u002FPX4-Autopilot)。\n\n## 项目赞助方\n- 系统机器人研究所（ISR）的动力系统与海洋机器人（DSOR）小组，隶属于机器人与工程系统实验室（LARSyS）。\n- 里斯本大学高等理工学院（Instituto Superior Técnico），里斯本大学\n\nMarcelo Jacinto 和 João Pinto 开展的工作得到了由科学与技术基金会（Fundação para a Ciência e Tecnologia, FCT）资助的博士奖学金支持。\n\n\u003Cp float=\"left\" align=\"center\">\n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_6af297f181ce.png\" width=\"90\" align=\"center\" \u002F>\n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_e9a159a96306.png\" width=\"200\" align=\"center\"\u002F> \n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_df7f2eb0d4e8.png\" width=\"200\" align=\"center\"\u002F> \n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_fec120ae1a99.png\" width=\"200\" align=\"center\"\u002F> \n  \u003Cimg src=\"https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_readme_1f22fc0a715f.png\" width=\"200\" align=\"center\"\u002F> \n\u003C\u002Fp>","# PegasusSimulator 快速上手指南\n\n## 项目简介\n**Pegasus Simulator** 是基于 [NVIDIA Omniverse](https:\u002F\u002Fdocs.omniverse.nvidia.com\u002F) 和 [IsaacSim](https:\u002F\u002Fdocs.omniverse.nvidia.com\u002Fapp_isaacsim\u002Fapp_isaacsim\u002Foverview.html) 构建的仿真框架。它专为模拟飞行器动力学设计，提供 [PX4](https:\u002F\u002Fpx4.io\u002F) 和 [ArduPilot](https:\u002F\u002Fardupilot.org\u002F) 的集成接口以及自定义 Python 控制接口。当前版本主要支持多旋翼飞行器（Multirotor）仿真。\n\n> **注意**：本指南基于最新版本 **v5.1.0**（对应 Isaac Sim 5.1.0）。旧版指令已不再适用，请务必遵循最新文档要求。\n\n---\n\n## 环境准备\n\n在开始之前，请确保您的开发环境满足以下要求：\n\n| 组件 | 版本要求 | 备注 |\n| :--- | :--- | :--- |\n| **操作系统** | Ubuntu 22.04 LTS | 官方推荐系统 |\n| **仿真平台** | NVIDIA Isaac Sim 5.1.0 | **必须匹配**，旧版不兼容 |\n| **飞控固件** | PX4-Autopilot 1.14.3 \u003Cbr> 或 ArduPilot-Copter 4.4.0 | 用于飞行控制逻辑集成 |\n| **硬件要求** | NVIDIA GPU | 需支持 CUDA，具体参考 Isaac Sim 官方文档 |\n\n---\n\n## 安装步骤\n\n由于 Pegasus Simulator 深度依赖 Isaac Sim 环境，请按照以下步骤配置：\n\n### 1. 安装 Isaac Sim\n通过 NVIDIA Omniverse Launcher 下载并安装 **Isaac Sim 5.1.0**。\n\n### 2. 配置终端启动命令\n从 v5.1.0 开始，推荐使用 `isaac_run` 命令启动 Isaac Sim。请将此命令添加到您的 Shell 配置文件中：\n\n```bash\n# 编辑 .bashrc 或 .zshrc\nnano ~\u002F.bashrc  # 或 nano ~\u002F.zshrc\n```\n\n在文件末尾添加以下内容（具体路径请参考 Isaac Sim 安装目录）：\n```bash\nexport ISAAC_PATH=\u002Fpath\u002Fto\u002Fyour\u002FIsaac-Sim\nsource $ISAAC_PATH\u002Fpython.sh\nalias isaac_run=\"python $ISAAC_PATH\u002Fpython.sh\"\n```\n\n保存后生效配置：\n```bash\nsource ~\u002F.bashrc  # 或 source ~\u002F.zshrc\n```\n\n### 3. 克隆项目代码\n获取 Pegasus Simulator 源代码：\n```bash\ngit clone https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator.git\ncd PegasusSimulator\n```\n\n### 4. 依赖与飞控集成\n详细的依赖安装及 PX4\u002FArduPilot 集成步骤，请访问官方文档：\n[https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Fsetup\u002Finstallation.html](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002Fsource\u002Fsetup\u002Finstallation.html)\n\n---\n\n## 基本使用\n\n### 启动仿真\n使用新版的 `isaac_run` 命令替代旧的 `ISAACSIM_PYTHON` 来启动仿真环境：\n\n```bash\nisaac_run\n```\n\n### 运行示例\n进入项目目录后，可参考提供的示例应用进行多旋翼动态仿真测试。具体的场景加载和脚本执行方式请参阅文档中的 **Example Applications** 章节。\n\n### 控制接口\n项目提供了自定义的 Python 控制接口，开发者可通过 Python 脚本直接对接 PX4 或 ArduPilot 进行控制逻辑验证。\n\n---\n\n## 其他资源\n- **完整文档**: [https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002F](https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002F)\n- **社区支持**: [Discord Server](https:\u002F\u002Fdiscord.gg\u002FAjCxw2QUmt)\n- **问题反馈**: [GitHub Issues](https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues)","某无人机研发团队正在开发一款用于电力巡检的四旋翼飞行器，急需在零成本下验证复杂电磁干扰环境下的导航稳定性。\n\n### 没有 PegasusSimulator 时\n- 传统 Gazebo 环境搭建繁琐，需手动处理 ROS2 节点通信与 PX4 固件桥接，占用大量工程时间。\n- 物理仿真精度低，无法模拟真实电机的延迟特性，导致算法在虚拟世界正常，实机落地即炸机。\n- 传感器噪声模型单一，难以复现强光或雨雾对视觉里程计的干扰，测试覆盖度严重不足。\n- 每次调试必须连接真实飞控板，硬件损耗大且无法并行运行多个测试用例。\n\n### 使用 PegasusSimulator 后\n- PegasusSimulator 集成 Isaac Sim 渲染引擎，预置 PX4 接口，几分钟内即可启动高保真无人机仿真场景。\n- 利用 GPU 加速的物理引擎精确模拟空气动力学，确保控制策略在虚实环境中的行为高度一致。\n- 支持自定义 Python 脚本注入传感器噪声，可灵活构建暴雨、强风等极端工况以验证系统鲁棒性。\n- 允许在云端并行部署数十个仿真实例，无需连接实体硬件即可完成大规模回归测试，显著降低硬件风险。\n\nPegasusSimulator 通过高保真仿真闭环，帮助团队将算法验证周期从数月压缩至数周，彻底消除了早期试飞的安全隐患。","https:\u002F\u002Foss.gittoolsai.com\u002Fimages\u002FPegasusSimulator_PegasusSimulator_ab9054eb.png","https:\u002F\u002Foss.gittoolsai.com\u002Favatars\u002FPegasusSimulator_6f926401.png","",null,"marcelo.jacinto@tecnico.ulisboa.pt","https:\u002F\u002Fpegasussimulator.github.io\u002FPegasusSimulator\u002F","https:\u002F\u002Fgithub.com\u002FPegasusSimulator",[83,87,91,95],{"name":84,"color":85,"percentage":86},"Python","#3572A5",91,{"name":88,"color":89,"percentage":90},"PowerShell","#012456",5.1,{"name":92,"color":93,"percentage":94},"Batchfile","#C1F12E",2.5,{"name":96,"color":97,"percentage":98},"Shell","#89e051",1.5,753,156,"2026-04-04T10:43:13","BSD-3-Clause","Linux (Ubuntu 22.04)","需要 NVIDIA GPU（基于 IsaacSim），具体型号、显存及 CUDA 版本未说明","未说明",{"notes":107,"python":105,"dependencies":108},"必须使用 Ubuntu 22.04 LTS；模拟器版本需与 IsaacSim 版本严格匹配（如 v5.1.0 对应 Isaac 5.1.0）；首次运行需在终端配置文件（.bashrc\u002F.zshrc）中添加 isaac_run 命令；当前仅支持多旋翼飞行器仿真。",[109,110,111,112],"NVIDIA Omniverse","IsaacSim","PX4-Autopilot","ArduPilot-Copter",[16,18],[115,116,117,118,119,120,121],"isaac-sim","multirotor","omniverse","omniverse-kit-extension","px4","simulation","uav","2026-03-27T02:49:30.150509","2026-04-06T05:36:26.638544",[125,130,135,140,145,150],{"id":126,"question_zh":127,"answer_zh":128,"source_url":129},2433,"如果未安装 tf2_ros Python 包，扩展安装或加载会失败怎么办？","该问题已在开发分支中修复（针对 Isaac 4.1.0 支持）。您可以应用 PR #23 的补丁来解决：\n\n```\ncurl -L https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F23.patch | git am\n```\n\n或者在本地源码目录执行上述命令。维护者已将 TF 依赖设为可选，确保更新到最新提交。","https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues\u002F22",{"id":131,"question_zh":132,"answer_zh":133,"source_url":134},2434,"项目是否支持 IsaacSim 5.0 或更高版本？","当前版本已更新至支持 v5.1.0。请注意检查新的安装页面，务必将 `isaac_run` 函数添加到 `.bashrc` 文件中，以避免与 ROS 2 产生兼容性问题。开发工作目前在 `dev_5.1.0` 分支上进行。","https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues\u002F96",{"id":136,"question_zh":137,"answer_zh":138,"source_url":139},2435,"如何在模拟器中添加自定义无人机并计算推力常数？","推力常数可参考相关研究文献进行计算。添加新无人机时，常见问题往往不在于常数本身，而在于 3D 模型设置。建议简化机身和旋翼网格（如使用 Blender），并确保局部角度读数正确。如果无人机无法起飞或在地面侧滑，请优先检查模型角度设置。","https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues\u002F84",{"id":141,"question_zh":142,"answer_zh":143,"source_url":144},2436,"无法连接 ROS2 或遇到版本兼容性错误如何处理？","迁移至 IsaacSim 4.5.0 版本的工作正在 `dev_4.5.0` 分支上开发中。如果您当前遇到连接问题，建议暂时使用稳定版 4.2.0。如果必须使用 4.5，请等待分支合并或关注相关更新。","https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues\u002F21",{"id":146,"question_zh":147,"answer_zh":148,"source_url":149},2437,"项目是否原生支持 ArduPilot 后端？","官方暂无计划直接支持 ArduPilot，但欢迎外部贡献者提交 PR。如果您希望自行开发，建议从 `pegasus\u002Fsimulator\u002Flogic\u002Fbackends\u002Fmavlink_backend.py` 文件入手。建议先支持纯 Mavlink，后续再考虑增加 Mavros 支持。","https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues\u002F12",{"id":151,"question_zh":152,"answer_zh":153,"source_url":154},2438,"是否支持固定翼无人机（Fixed-wing UAV）仿真？","目前尚未内置固定翼模型，但社区对此功能有需求。建议加入官方 Discord 频道（https:\u002F\u002Fdiscord.gg\u002F276E4krB）参与讨论。如果有开发者实现该功能，欢迎提交 PR 进行贡献。","https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fissues\u002F72",[156,161,166,171,176,181,186,191],{"id":157,"version":158,"summary_zh":159,"released_at":160},101984,"v5.1.0","## What's Changed\r\n* TASK: Enable Isaac 5 0 Support by @HO4X in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F100\r\n\r\n## New Contributors\r\n* @HO4X made their first contribution in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F100\r\n\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv4.5.1...v5.1.0","2025-10-26T16:49:55",{"id":162,"version":163,"summary_zh":164,"released_at":165},101985,"v4.5.1","## What's Changed\r\n* Patch to Allow ArduPilot SITL to Work with Isaac Sim 4.5.0 by @SwiftGust in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F89\r\n\r\n## New Contributors\r\n* @SwiftGust made their first contribution in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F89\r\n\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv4.5.0...v4.5.1","2025-10-25T11:46:53",{"id":167,"version":168,"summary_zh":169,"released_at":170},101986,"v4.5.0","## What's Changed\r\n* feat: Add Ardupilot multiagent functionality by @TannerGilbert in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F66\r\n* fix: Ensure Ardupilot can be stopped and restarted as expected by @TannerGilbert in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F67\r\n* docs(README): address Isaac Sim installation issue by @giovannigaiardo in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F74\r\n* fix: Ensure Ardupilot instances close when running IsaacSim is closed by @TannerGilbert in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F77\r\n* Update README.md by @MarceloJacinto in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F78\r\n* Dev 4.5.0 by @MarceloJacinto in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F87\r\n\r\n## New Contributors\r\n* @TannerGilbert made their first contribution in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F66\r\n* @giovannigaiardo made their first contribution in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F74\r\n\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv4.2.0...v4.5.0","2025-07-20T14:09:20",{"id":172,"version":173,"summary_zh":174,"released_at":175},101987,"v4.2.0","## What's Changed\r\n\r\n*PegasusSimulator now runs on IsaacSim 4.2.0\r\n*Experimental support for Ardupilot was added, thanks to the open-source contribution of @TomerTip.\r\n\r\n* PegasusSimulator 4.2.0 in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F55\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv4.1.0...v4.2.0","2024-11-01T18:42:42",{"id":177,"version":178,"summary_zh":179,"released_at":180},101988,"v4.1.0","Pegasus Simulator version that runs on IsaacSim 4.1.0\r\n\r\n## What's Changed\r\n* Dev isaac 4 by @MarceloJacinto in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F44\r\n\r\n\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv1.0.3...v4.1.0","2024-08-02T14:43:59",{"id":182,"version":183,"summary_zh":184,"released_at":185},101989,"v1.0.3","## What's Changed\r\n* Dev people by @MarceloJacinto in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F34\r\n\r\n* feat: addition of people behaviours\r\n* feat: people can now be loaded through the Pegasus \r\n\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv1.0.2...v1.0.3","2024-05-31T19:53:51",{"id":187,"version":188,"summary_zh":189,"released_at":190},101990,"v1.0.2","## What's Changed\r\n* feat: Improved ROS2 backend with custom topic names and tfs by @MarceloJacinto \r\n* feat: ros2 camera graph by @F1rrel in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F14\r\n\r\n## New Contributors\r\n* @F1rrel made their first contribution in https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fpull\u002F14\r\n\r\n**Full Changelog**: https:\u002F\u002Fgithub.com\u002FPegasusSimulator\u002FPegasusSimulator\u002Fcompare\u002Fv1.0.0...v1.0.2","2024-04-13T19:04:56",{"id":192,"version":193,"summary_zh":194,"released_at":195},101991,"v1.0.0","First Pegasus Simulator release.","2023-02-27T09:09:32"]