Tobas

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Tobas is a Linux-based, model-based flight controller for drones and robotic aircraft. It designs control systems from each airframe's physical model, so unconventional aircraft can be simulated, configured, and flown through the same ROS 2 interface.

Quick Links

Supported Platform

• Ubuntu 26.04 LTS
• ROS 2 Lyrical
• Debian Trixie for flight-controller images

Repository Layout

• debian: Debian packaging resources for supported images.
• docs: MkDocs-based user and developer documentation.
• tobas_core: Core flight-control, estimation, hardware, message, failsafe, and utility packages.
• tobas_gui: Setup, ground-station, simulation, tuning, and visualization tools.
• tobas_examples: Example packages and code-style references.
• tobas_external: Third-party libraries wrapped for the Tobas workspace.
• tools: Development, synchronization, and deployment helper scripts.

For Contributors

See Contributing to Tobas (opens in a new tab) for source setup, code style, pre-commit checks, and Git guidelines.

License

Unless otherwise noted, this repository is licensed under the GNU General Public License, version 3 or any later version (GPL-3.0-or-later).

The *_msgs packages, including their .msg, .srv, and .action files, are licensed under Apache-2.0.

See LICENSE (opens in a new tab) for the default open source license, and LICENSES/Apache-2.0.txt (opens in a new tab) for the Apache-2.0 license text.

Third-party copyright, attribution, and license notices are retained in the affected sources and THIRD_PARTY_NOTICES.txt (opens in a new tab).

If you want to distribute Tobas as part of a proprietary product, or if you do not wish to comply with the GPL for distribution, alternative commercial licensing is available from Tobas.

See COMMERCIAL-LICENSE.md (opens in a new tab) for commercial licensing information.

For commercial licensing inquiries, please contact: contact@tobas.jp (opens in a new tab)