FastSwarmSim
- Software
- Drones and boats
- Simulator
A lightweight ROS 2 simulator for PX4-compatible multi-rotor vehicles, aimed at multi-UAV algorithm development, repeatable simulation-time experiments, and large-scale swarm prototyping.
Source on GitHub: github.com/shupx/FastSwarmSim (opens in a new tab). Facts read at commit 56a6380 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 56a6380 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Renders local LiDAR point clouds from a vehicle pose against a static PCD map through the bundled marsim_render library.
- Provides a ZeroMQ-based conservative lock-step time coordinator with a /clock publisher and simulation-speed controls, usable by any ROS node.
- Includes RViz visualization of vehicles and launch files for single- and multi-drone PX4, LiDAR, and RViz scenes.
- Claims up to 100x real time for one vehicle, 50x for five, 30x for ten, and 4x for one hundred, with LiDAR simulation disabled on a desktop-class computer.
Written by Robotheca from the project's README (opens in a new tab) at commit 56a6380.
Getting started
- Difficulty
- Intermediate
- Hardware it needs, as the project states it
- A desktop-class computer is referred to for the performance figures; no other specific hardware requirements are stated.
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 10 Oct 2026 on main
- Latest release
- 0.1.4 (30 Sept 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.