大疆无人飞行挑战赛，急速穿圈
1 plan_and_control : ROS节点包，调用规划器和控制器
2 tracking_controller : 实现的几何控制器
3 trajectory_generator: 闭式解法生成miniJerk轨迹
roslaunch plan_and_control trajectory_replan.launch 带圆心识别和重规划
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