Jedsadakorn Yonchorhor comments

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                                            Jedsadakorn Yonchorhor

Could not find the PID usage, how and where is the PID used to control the drone?

You would need to lookup the code from https://github.com/surfii3z/drone_controller/blob/master/src files in the folder will produce those topics. For /cur_pos_w, you could use any type of source, Optitrack is one of...

Could not find the PID usage, how and where is the PID used to control the drone?

Sorry, my bad, it was quite a long time ago. You should publish the state and set point to ros PID package http://wiki.ros.org/pid which will produce control effort :)

fast palnner real map

If I'm not wrong you also need to set something related to pointcloud/ map reference. But I could not recall what it was called. Maybe a good start is to...