MoveIt! does not currently come with the ability to execute the multi-DOF trajectories required to take full advantage of the quadcopter's dynamics. Instead, we will have to add some custom code in order to handle the trajectories generated by the MultiDofFollowJointTrajectoryAction action server.
For that, we will use a couple of Python scripts that have already been developed by the eYSIP. We can find their repository at https://github.com/eYSIP-2017.
First of all, we will download the tum_ardrone package, using the following command in the /src folder of our workspace:
$ git clone https://github.com/tum-vision/tum_ardrone.git
Next, let's compile the package: