How can I edit the set_point.cpp file such that I can change velocity along with the global position?

ROS 1 / ROS 2
1

Hi everybody,

I am working on a drone project I’m connecting ros to gazebo and using the mavros node of course. I would like to publish position messages to /mavros/setpoint_position/global topic and at the same time I’m trying to adjust the velocity with which the drone goes to the intended position using the /mavros/setpoint_velocity/cmd_vel, but it doesn’t work together. I think the problem is in the setpoint_position.cpp in this method:

void setpointg_cb(const geographic_msgs::GeoPoseStamped::ConstPtr &req)
	{
		using mavlink::common::POSITION_TARGET_TYPEMASK;

		uint16_t type_mask = uint16_t(POSITION_TARGET_TYPEMASK::VX_IGNORE)
					| uint16_t(POSITION_TARGET_TYPEMASK::VY_IGNORE)
					| uint16_t(POSITION_TARGET_TYPEMASK::VZ_IGNORE)
					| uint16_t(POSITION_TARGET_TYPEMASK::AX_IGNORE)
					| uint16_t(POSITION_TARGET_TYPEMASK::AY_IGNORE)
					| uint16_t(POSITION_TARGET_TYPEMASK::AZ_IGNORE);

		Eigen::Quaterniond attitude;
		tf::quaternionMsgToEigen(req->pose.orientation, attitude);
		Eigen::Quaterniond q = ftf::transform_orientation_enu_ned(
						ftf::transform_orientation_baselink_aircraft(attitude));

		set_position_target_global_int(
					req->header.stamp.toNSec() / 1000000,
					uint8_t(MAV_FRAME::GLOBAL_INT),
					type_mask,
					req->pose.position.latitude * 1e7,
					req->pose.position.longitude * 1e7,
					req->pose.position.altitude,
					Eigen::Vector3d::Zero(),
					Eigen::Vector3d::Zero(),
					ftf::quaternion_get_yaw(q),
					0); }

As I believe that this bit masking ignores the velocity change effects.

Thank you in advance.