GATSBI folder contains GATSBI Algorithm AirSim_MoveIt folder contains the AirSim and MoveIt integrated ROS package DJI_MoveIt folder contains the DJI SDK and MoveIt integrated ROS package

Required Simulation Packages

• AirSim
• MoveIt
• GTSP Solver

Start AirSim in Unreal Engine environment

Run AirSim ROS Wrapper in 1st terminal

roslaunch airsim_ros_pkgs airsim_node.launch

Launch OctoMap GATSBI launch file in 2nd terminal. This runs the following:

• Envrionment Octomap
• Bridge Segmented Octomap
• Ground Filter
• Visited Points Tracker

roslaunch octomap_server octo_gatsbi.launch

Run GTSP solver in 3rd terminal

rosrun gtsp gtsp_solver

Launch MoveIt configuration in 4th terminal

roslaunch airsim_moveit_config gatsbi.launch

Run AirSim + MoveIt Client in 5th terminal

rosrun airsim_moveit_navigation airsim_navigator

Run GATSBI

rosrun octomap_server airsim_MODGATSBI