Waypoints Execution Using ROS

I am using arducopters and need one to fly to a given series of waypoints(master) and another to follow it(slave). My current approach is as to write the same series of waypoints into both and when the master reaches a waypoint to communicate it to the second drone using raspberry pi3s with ROS installed and then the second starts going to that waypoint. I am a newbie and have a few questions

1. Since the waypoints are already published in the master, is it enough if I arm it, takeoff and switch to auto mode? I ran some code in ROS to do that and it doesn't work. 

2. Is this the best way method to achieve my goal?

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