This package depends on the pyx4 ros package (https://github.com/jannsta1/pyx4). Once you have a catkin workspace with pyx4 working in it should be possible to clone the torf package into the same workspace and build using the usual ROS build approach (catkin build).

To run in simulation initialise the quick start roslaunch file with:

roslaunch torf cwssim_simulate.launch world:=<WORLD_ON_YOUR_GAZEBO_PATH>

note that you will need to provide a gazebo world that is in your GAZEBO_MODEL_PATH, path - custom worlds can be provided on request.

The autorun package is a convenient tool for running batches of experiments. It uses the roslaunch api to

cd autorun_dirtorf/src/autorun
python 

This software was designed to operate with a bluefox camera but could be readily adopted to any other camera system with a ROS driver. The package should operate with any multirotor that uses a PX4 as its main flight controller.

Unit tests are stored in src/test folder - please run these before submitting a pull request.