Workflow: launch offboard_slam.launch with: $roslaunch offboard offboard_slam.launch

This will launch all of the necessary scripts. To view output from any particular script (i.e - read out yaw commands from traj_set.py), comment out the corresponding line from offboard_slam.launch (<node=.../> becomes ). Once it is commented out, it will no longer be launched automatically and you can run the script in a separate terminal windows with e.g.: $rosrun offboard traj_set.py This will print any rospy.loginfo("<output>") to the terminal screen.

To view the map: $rosrun offboard map_viewer.py

To view your setpoint (ROS frame - ENU): $rostopic echo /mavros/setpoint_position/local

To view your current pose (slam frame - FLU): $rostopic echo /slam_out_pose

Other useful topics to get info from: /ready_for_wps -- self-explanatory /next_wps -- in slam frame grid locations

If you make any edits and test them to success, push out to the repo

$git commit
# this will send you to nano. Write a quick descr of what you did
#CTRL-x, y, ENTER to save and exit
$git push
#this will prompt for UN and PW```