This package was created as an example of how to write a very simple ROS nodelet. You can test the program in simulation (see our simulation tutorial).

• Once activated, the nodelet will command an UAV to fly through random waypoints
• Service start_waypoint_following will activate the nodelet
• The area in which random waypoints are generated is configurable with a separate config file See .yaml files

./tmux/start.sh

Then, call the services prepared in the terminal window either by:

1. Pressing tmux binding (Ctrl + b or Ctrl + a)
2. Pressing the down arrow to change to the terminal below
3. Pressing the up arrow to bring up the prepared terminal command

Or typing the following command into a terminal connected to the ROS server:

rosservice call /uav1/waypoint_flier_simple/start

See ROS packages

• src directory contains all source files
• launch directory contains .launch files which are used to parametrize the nodelet. Command-line arguments, as well as environment variables, can be loaded from the launch files, the nodelet can be put into the correct namespace (each UAV has its namespace to allow multi-robot applications), config files are loaded, and parameters passed to the nodelet. See .launch files
• config directory contains parameters in .yaml files. See .yaml files
• package.xml defines properties of the package, such as package name and dependencies. See package.xml

• To see a similar node with more functionality and features, see example_ros_uav