You can find additional info on this work in this thesis, however it's in italian: https://mega.co.nz/#!bdYEWKDZ!WmsdbkD-DifIXAGAL4cHTBwb_hYw36mMpB_XMmLX5VA In order to run the simulation you will need: ROS, Hector_quadrotor + hector_quadrotor_world, gazebo, Moveit! and the few extra in this .rar. The external programs can be found here: ROS ---> http://wiki.ros.org/ Hector_quadrotor ---> http://wiki.ros.org/hector_quadrotor gazebo ---> http://wiki.ros.org/gazebo Moveit! ---> http://moveit.ros.org/ First of all you should create a configuration pack for moveIt! in order to correctly interface it with hector quadrotor, in other word you should create a series of configuration file to correctly interface the quadrotor with the plugin. You can do it by yourself following this tutorials ( http://moveit.ros.org/wiki/Quick_Start) and using my modified version of hector_quadrotor.urdf (you can find it in "hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf" ), just remember to add a virtual floating joint between the base link of the quadrotor and teh fixed odometry link... or you can simply use the pack I already made with everything configured --> quadrotore2_moveit. In the second case everything should be configured correctly and the quadrotor should be able to build a map of the place and fly itself using moveit!. Now you just need to launch Gazebo and spawn the quadrotor("sh files/1-simulator.sh"), launch the action_controller node ("sh files/2-controllers.sh") and finaly launch the moveit plugin and rviz visualizer ("sh files/3-planner.sh"). Optionally you can spawn a node to teleoperate the quadrotor in the simulation from the terminal ("sh files/4-teleOp.sh"). Maybe in order to make the sh work you should change some path! You can simply overwrite the standard's packages downloaded from the official wiki pages (like pr2_teleop, hector_quadrotor or moveit_simple_controller_manager) with my modified ones and recompile all in order to obtain the modified packages and the additional functionalities. Contents of the folders: ->action_controller: action controller to translate geometrical trajectory in cmd_vel to control the quadrotor, it automatically translate the geometrical traiectory produced by moveit in comand to make the quadrotor move. ->moveit_simple_controller_manager: modified version of moveit_simple_controller_manager to handle multiDofFollowJointTrajectoryAction and to send the trajectory to the custom action_controller above defined ->hector_quadrotor: modified urdf of the quadrotor to publish the odometry of the joints ->pr2_teleop: simple node to teleop the simulated quadrotor using the keyboard ->quadrotore2_moveit: configuration file for moveit! ->sh files: bash file to launch the different part of the simulation