mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
catkin_init_workspace

git clone https://github.com/3113373723/offboard-vicon.git
cd ~/catkin_ws
catkin_make

//本项目主要包含两个例程，分别写在两个launch文件中，推荐使用no machine远程连接运行
// 1.机载电脑控制无人机起飞定点悬停15s后降落
source ./devel/setup.bash
roslaunch offboard takeoff.launch

//2.机载电脑控制无人机起飞，飞一个正方形，然后降落
roslaunch mavros px4.launch
//再开一个终端
source ./devel/setup.bash
roslaunch offboard new.launch