# setup
./devel/setup.bash
# change px4 port mod 
sudo chmod 777 /dev/ttyACM0
# realsense camera
roslaunch realsense2_camera rs_camera.launch
# mavros px4
roslaunch mavros px4.launch
# imu freqency
rosrun mavros mavcmd long 511 31 5000 0 0 0 0 0;
rosrun mavros mavcmd long 511 105 5000 0 0 0 0 0;
# vins
roslaunch vins fast_drone_250.launch

## VINS params set
# left and right camera
rostopic echo /camera/infra1/camera_info
# check imu
rostopic echo /vins_fusion/imu_propagate

## auto take off
sh shfiles/rspx4.sh
roslaunch px4ctrl run_ctrl.launch
sh shfiles/takeoff.sh

## ego planner exp
sh shfiles/rspx4.sh
roslaunch px4ctrl run_ctrl.launch
roslaunch e——go_planner single_run_in_exp.launch
# for record
sh shfiles/record.sh
# visualizition on remote desktop
roslaunch ego_planner rviz.launch
sh shfiles/takeoff.sh

sh shfiles/rspx4.sh
roslaunch px4ctrl run_ctrl.launch
roslaunch ego_planner run_in_exp_0.launch
roslaunch ego_planner rviz.launch

#1 $ init_250
#2 $ sh ./shfiles/init.sh
#3 $ roslaunch ego_planner single_run_in_exp.launch __ns:=drone2
#4 $ roslaunch ego_planner rviz.launch __ns:=drone2