Hi all - I just wanted to talk about a project I've been working on for school lately. I am interfacing ROS with the APM and a Kinect Sensor (over MAVLink) to provide target tracking and attitude settings to the APM. Here is a video of this working:
The wiki and all code for this project can be found here: https://code.google.com/p/icarus-uav-system/wiki/ROS_APM_KINECT
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