Solitude Aerial test case

Steps to reproduce.
Firstly, install all required packages and software.

• PX4 - ROS2 interface lib
  cd $ros_workspace/src
git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
cd ..
colcon build
source install/setup.bash
  
  
  
• Micro-XRCE-DDS-Agent
  git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build && cd build
  On Linux, inside of the build folder, execute the following commands:
  cmake ..
make
sudo make install
  
  
  
• QGroundControl
  sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libfuse2 -y
sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor0 -y
  Download and install QGroundControl
  https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage
chmod +x ./QGroundControl.AppImage
  To be able to run QGroundControl from terminal, place QGroundControl app image to /usr/local/bin/
  
  
• PX4
  git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
cd PX4-Autopilot/
make px4_sitl
pip3 install --user -U empy==3.3.4 pyros-genmsg setuptools
  
  
  
• PX4 messages and PX4_ros_com
  cd src/
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git
colcon build --packages-select px4_ros_com px4_msgs && source install/local_setup.bash
  
  
  
• Gazebo classic
  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo11
  If fails:
  sudo apt-get install gazebo
  Gazebo ROS Libraries
  sudo apt install ros-<ROS_DISTRO>-gazebo-ros-pkgs
  
  
  
• ROS2 aruco
  Clone from current repo and install python libs:
  pip3 install opencv-contrib-python==4.9.0.80 transforms3d
  Build from your src/ directory:
  colcon build --packages-select ros2_aruco ros2_aruco_interfaces && source install/local_setup.bash
  

After installation, test:
From /src/PX4-Autopilot
make px4_sitl gazebo-classic

From different shell
MicroXRCEAgent udp4 -p 8888

From different shell
QGroundControl.AppImage

From different shell
To test the drone's flight in a circle
ros2 run px4_ros_com circle_flight.py

From different shell
To test flight of a drone in a straight line and Aruco marker detection:
ros2 run px4_ros_com straight_flight.py

From different shell
ros2 launch ros2_aruco aruco_recognition.launch.py