I am trying OFFBOARD control of a rover using pixhawk set up with PX4. The Pixhawk is connected to a Jetson TX2 onboard the rover. I use the the IMU data from the Pixhawk along with wheel encoder data to perform localization which is published as a transform from the map frame to a chassis frame.
My question is, when we use the setpoint commands for OFFBOARD control, what frame id has to be published in the message? Would a missing or incorrect frame id in the message cause it not to work?
I tried different setpoint commands (position, velocity, raw) but no luck getting the rover to move. I am able to perform mode switching and arming successfully but the published setpoint commands don’t seem to have an effect.
Any help would be appreciated.