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This backend uses MAVROS. There are two sample launch files to start running this backend:
It runs two nodes (MAVROS_FW and UAL):
$ roslaunch ual_backend_mavros_fw server.launch
It runs GAZEBO and one fixed wing uav. It is needed to install PX4 SITL in order to simulate.
$ roslaunch ual_backend_mavros_fw simulation.launch