This was my first ros Project, so i appologise for lack of good documentation and practices.
Task: Fly a drone autonomously throug 4 fpv gates
rqt to get information about massagtypes that nodes send
rqt_console
ros 2 run rqt_graph rqt_graph to visualise all conections between nodes
ros topic echo 'toppic_name' to see the output of a topic
ros topic list to get a list of all published toppics