# How do I control a px4-based rover?

**URL:** <https://discuss.px4.io/t/how-do-i-control-a-px4-based-rover/42515>\
**Category:** ROS 1 / ROS 2\
**Created:** [November 21, 2024, 6:05am UTC](https://discuss.px4.io/t/how-do-i-control-a-px4-based-rover/42515 "2024-11-21T06:05:49Z")\
**Posts on this page:** 1\
**Showing post:** 6

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**Author:** ![samirertt](https://discuss.px4.io/user_avatar/discuss.px4.io/samirertt/32/18451_2.png) [@samirertt](https://discuss.px4.io/u/samirertt)\
**Post date:** [February 17, 2025, 8:44pm UTC](https://discuss.px4.io/t/how-do-i-control-a-px4-based-rover/42515/6 "2025-02-17T20:44:07Z")

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> [@hamishwillee](#):
>
> First you need to check it is actually in the source for the version you are interested in.

right now am acually using the latest version of px4

also am able to see the topics

```auto
/fmu/in/actuator_motors
/fmu/in/actuator_servos
/fmu/in/arming_check_reply
/fmu/in/aux_global_position
/fmu/in/config_control_setpoints
/fmu/in/config_overrides_request
/fmu/in/distance_sensor
/fmu/in/goto_setpoint
/fmu/in/manual_control_input
/fmu/in/message_format_request
/fmu/in/mode_completed
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/register_ext_component_request
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/unregister_ext_component
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_command_mode_executor
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_thrust_setpoint
/fmu/in/vehicle_torque_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/battery_status
/fmu/out/estimator_status_flags
/fmu/out/failsafe_flags
/fmu/out/manual_control_setpoint
/fmu/out/position_setpoint_triplet
/fmu/out/sensor_combined
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_command_ack
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_global_position
/fmu/out/vehicle_gps_position
/fmu/out/vehicle_land_detected
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/parameter_events
/rosout

```

this is the new topic i wrote the details

> [@Ros2+px4 rover offboard mode](https://discuss.px4.io/t/ros2-px4-rover-offboard-mode/43801/2):
>
> also what should i set true when going to offboard mode i said acceralation true is that correct ? void OffboardControl::publish\_offboard\_control\_mode() { OffboardControlMode msg{}; msg.position = false; msg.velocity = false; msg.acceleration = true; msg.attitude = false; msg.body\_rate = false; msg.timestamp = this-\>get\_clock()-\>now().nanoseconds() / 1000; offboard\_control\_mode\_publisher\_-\>publish(msg); }

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