Real UAV control， using the vicon to locate the uav. The position with yaw can be set to control the uav, the target point is send to mavros , which processes and delivers the msgs to the PX4.
Thanks to Jianjun Gui and Haoxin Zhang, who helped a lot for this work. The work is fineshed in Defense Innovation Institute, Chinese Academy of Military Science, 2021.
Some dependences are followed
sudo apt-get install ros-melodic-vrpn
sudo apt-get install ros-melodic-mavros*
then
cd your_catkin_name
git clone https://github.com/9woods123/real_uav_control.git
catkin_make
and launch the uav control nodes:
source your_catkin_name/devel/setup.bash
roslaunch move_control real_uav.launch
The uav_simple_control.cpp is a tutorial code. Fix your algorithm , sending the target point like it does and replace the uav_simple_control.