How to build

$ mkdir mission_ws/src

$ cd mission_ws

$ catkin init

$ cd src

$ git clone https://github.com/huanglilong/mission

$ cd ..

$ catkin build

How to connect to pixhawk

Read px4's doc

$ roslaunch mavros px4.launch

$ rosrun mission mission_node

Switch to OFFBOARD mode

Press safety switch and arm

Simulating with gazebo

$ make posix_sitl_default gazebo

$ roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

$ rosrun mission mission_node

$ rosrun mavros mavsys mode -c OFFBOARD

$ rosrun mavros mavsafety arm

Set paramter

$ rosrun rqt_reconfigure rqt_reconfigure

Get the topic's messages

$ rqt_graph

$ rosrun rqt_topic rqt_topic