• Run the simulator $ roslaunch cvg_sim gazebo iarc_with_bots.launch roslaunch cvg_sim_gazebo iarc_world.launch

• Run Ground Truth Publisher $ rosrun quad_simulator gtpub

• Run Autopilot $ rosrun tum_ardrone drone_autopilot

• In your code include ark_llp/go2goal.h

• Create a Go2Goal object

• Use function set_dest(double x, y, z, theta) to set destination and clear previous waypoints

• Use function add_dest(double x, y, z, theta) to add next waypoint to queue