My objective is to design a custom controller for quadcopter using SITL and ROS as off-board. So my question is which topic is used for publish the actuator commands(control input to ESC) and which MODE it will be available.
I have disabled Lockstep simulation in px4 and gazebo and I have seen mavros/actuator_control commands has used for it(I’m not sure). But the quadcopter is not responding. Is there any way to check the MAVROS communication between px4 and gazebo?Also how can i make sure the topic to publish control commands.