To get the RRT path and the pruned path, run the following code:

$ python Code/main.py

The starting and the ending position for this path planning are given to be (-4,-4,0) and (4,4,0) respectively.

The output path of the code is written as an npy file, final_rrt_prune_path_coords.npy.

The pruned path is then smoothed using the smooth_path.py code. Run the following command to get the smooth path:

$ python Code/smooth_path.py

The above code reads the pruned path from the final_rrt_prune_path_coords.npy file and gives the smooth path as another npy file, final_rrt_prune_smooth_path_coords.npy.

This smooth path is then used by the simulator to simulate the final path.

-Install the px4 gazebo simulator from the fllowing website. https://dev.px4.io/v1.9.0/en/simulation/gazebo.html

• Follow the instructions given in this website to launch the px4 quad. https://dev.px4.io/v1.9.0/en/simulation/ros_interface.html

• In these instructions while exectuting the roslaunch px4 posix_sitl.launch use the following arguments.

roslaunch px4 posix_sitl.launch world:=/home/sandeep/px4_ws/src/px4_controller/world/asd.world

• Run the script ../src/px4_controller/rrt-uav/Code/main.py to generate the path.

• To run the simulation run the following command in a new ros terminal.

rosrun px4_controller position_control.py 

This will start the simulation.