ROS package for reactive obstacle avoidance using artificial potential fields.
Set local_position/tf/send = true in /mavros/launch/px4_config.yaml to get TF from map frame to base_link frame.
Terminal 1:
roslaunch px4 mavros_posix_sitl.launch
Terminal 2:
roslaunch artificial_potential_fields px4_simulation.launch
Gazebo:
rviz:
