-
Run the simulator
$ roslaunch cvg_sim gazebo iarc_with_bots.launchroslaunch 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
Go2Goalobject -
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