Just a simple waypoint following demo.

Clone this repo to your catkin workspace's src directory, then build with catkin build and resource your devel/setup.bash

With either a craft ready to connect or a simulator running, call roslaunch mavros_demo apm.launch. Then, from the scripts directory (at least until I get around to fixing the file pathing) call rosrun mavros_demo WaypintDemo.py.

To change the flight path, edit the waypoints_test.data file.

This is just a quick demo I set up. It might be worth modifying the WaypointDemo code to take user input, fly in different modes, or create a new node that publishes on rc_input to fake manual flight.