ROS2 node to plan cartesian trajectory for a standard px4-based UAV
Launch PX4 gazebo simulation and run DDS agent in two different terminal
$ MicroXRCEAgent udp4 -p 8888
In a third terminal run the trajectory planner node
$ ros2 run trajectory_planner offboard_control
Arming routine
Takeoff routine
Point-to-point trajectory planning
The desired yaw is computed to have the drone navigating toward the approaching direction
Landing routine