telemetry.py

Takes mavros inputs and posts telemetry data to ground server. Independent of other functionalities.

px4.py

Interplay between waypoints and low-level px4 commands. Takes waypoints and flies to the waypoints. Currently loads waypoints from file rather than taking them in from another ROS node.

pathplanning.py

Functionalities to create path from (lat, lng) point A to B given set of static obstacles. Currently a standalone file and is imported for use.

interop_data.py

Pulls mission data from mission definition API, plans path from mission data, and sends resulting list of waypoints to px4.py node.

planning_util/

All the stuff needed for path planning. Not totally sure what it specifically does, but it works.

Testing

To test path planning, simply run pathplanning.py and view the output in /results/test_environment_display/env.png.