Install RotorS and rpg_quadrotor_control following these instructions https://github.com/uzh-rpg/rpg_quadrotor_control/wiki/Installation-Guide
If you run into a build error regarding an xacro file, just delete the commented out lines in the relevant file and it should build
git clone [email protected]:rachelzh9/subcanopy_flight.git
Launching quadrotor in an empty world with sample trajectory tracking
roslaunch rpg_mpc follow_trajectory.launch
Launching in sample cylinder world with GUI
roslaunch rpg_mpc subcanopy_flight.launch
Launching full stack
roslaunch local_planner quad_launch.launch
roslaunch local_planner local_planner.launch