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.