source code :https://bitbucket.org/AlessioT/autonomous-flight-ros/src

report link :

1. clone the repo to your work space, if you are using indigo remove the file ROS-groovy and rename ROS - Indigo to something without spaces

git clone https://bitbucket.org/AlessioT/autonomous-flight-ros.git

2. install moveit-core

sudo apt-get install ros-indigo-moveit-core

3. install moveit ros visualization plugin

sudo apt-get install ros-indigo-moveit-ros-visualization

4. catkin_make the workspace

catkin_make

5. go to sh files directory in ROS-Indigo

----------------------------------------------------------------------
| In terminal 1       |    In terminal 2      |   In terminal 3      |
| sh 1-simulator.sh   |    sh 2-controller.sh  |   sh 3-planner.sh  |
----------------------------------------------------------------------
| this is to start    | this is to start      | this to start rviz   |
| gazebo              | action_controller node| with moveit plugin   |
----------------------------------------------------------------------

Useful link tutorial: http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot