【Not an Issue】Could you tell me how to use this code?

[watakandai]

Hi, I'm trying to control 3DR Solo indoor from offboard,
and found this repository.
My aim is to use VICON xyz data to fly 3DR Solo.
I need to

receive VICON xyz from Windows PC in Linux,
send VICON xyz to 3DR Solo using MavRos
Receive 3DR state
Control 3DR Solo using Position, Velocity, Attitude, Angular Velocity.
Could you tell me how to use this code to control 3DR Solo?