Hi everyone,I am currently working on a UAV project using Gazebo, ROS 2, and PX4. Over the past two days, I have been trying to find reliable resources on how to implement obstacle avoidance for a quadcopter, but I have not been able to locate anything sufficiently clear or complete.

The only references that seem promising so far are:

https://github.com/PX4/PX4-Avoidance/tree/ros2?tab=readme-ov-file#getting-startedand this thesis: https://webthesis.biblio.polito.it/36527/1/tesi.pdf

At the moment, I can switch the drone to Offboard mode in C++ and communicate with the PX4 control stack (arming etc. is working correctly). My initial idea is to use the Nav2 stack for obstacle avoidance, but I would like to know if there are better approaches or more suitable frameworks specifically for UAVs.

If anyone has experience, resources, or can point me in the right direction, it would be greatly appreciated.

Thank you.