Example Planner

[michaelpantic]

Minimum viable example of a planner that runs in the console and uses mav_trajectory_generation. Shows usage of trajectory sampler as well.

Readme from header file:

• Launch via roslaunch mav_trajectory_generation_example example.launch
• Wait for console to run through all gazebo/rviz messages and then you should see the example below
• After Enter, it receives the current uav position
• After second enter, publishes trajectory information
• After third enter, executes trajectory (sends it to the sampler)

Starts Gazebo, and RVIZ. RVIZ trajectory visualization:

RQT node graph (for info - will not be launched):