= How to Run a Mock Mission

1. Start MavProxy at the location of the first sample waypoint.

    $ cd <path-to-ardupilot>/APMrover2
    $ sim_vehicle.py -l 37.659984,-121.8874624,0,45

2. Start the simulation. Zoom and center the waypoints, if you like.
Mouse wheel or 2-finger scroll zooms, control-shift-drag moves the
map around.

    $ roslaunch robo_magellan mock_mission.launch

3. In MavProxy, load the waypoint sample.

    rosrun mavros mavwp load data/sample.qgc-wpl.txt

4. Start the mission by arming the throttle and going into AUTO mode.

    $ rosservice call /mavros/cmd/arming "value: true"
    success: True
    result: 0
    $ rosservice call /mavros/set_mode "{custom_mode: 'AUTO'}"
    mode_sent: True

In rviz, you should see the rover follow the waypoints. When a cone is visible,
the heading to the cone is shown with a red arrow.

You can move the robot back to the starting point (approximately) using the command:

    $ rosservice call /mavros/set_mode "{custom_mode: 'RTL'}"
    
Then you can restart the mock mission by setting the mode to AUTO again, in step 4.

= How to Run a Mock Mission

1. Start MavProxy at the location of the first sample waypoint.

    $ cd <path-to-ardupilot>/APMrover2
    $ sim_vehicle.py -l 37.659984,-121.8874624,0,45

2. Start the simulation. Zoom and center the waypoints, if you like.
Mouse wheel or 2-finger scroll zooms, control-shift-drag moves the
map around.

    $ roslaunch robo_magellan mock_mission.launch

3. In MavProxy, load the waypoint sample. You should then see the robot and the waypoints
in rviz. If you don't, try it again after a few seconds. (MavProxy can still be waiting
for SITL to start up.)

    rosrun mavros mavwp load data/sample.qgc-wpl.txt

4. Start the mission by arming the throttle and going into AUTO mode.

    $ rosservice call /mavros/cmd/arming "value: true"
    success: True
    result: 0
    $ rosservice call /mavros/set_mode "{custom_mode: 'AUTO'}"
    mode_sent: True

In rviz, you should see the rover follow the waypoints. When a cone is visible,
the heading to the cone is shown with a red arrow.

You can move the robot back to the starting point (approximately) using the command:

    $ rosservice call /mavros/set_mode "{custom_mode: 'RTL'}"
    
Then you can restart the mock mission by setting the mode to AUTO again, in step 4.

Add information about failure to load waypoints
Add information about failure to load waypoints