How to change VTOL Flight Mode from Multi-Rotor to Fixed Wing in OFFBOARD mode by using ROS (MAVROS) in Gazebo too without using QgroundControl? thank you

ROS 1 / ROS 2
13

At ROS official website, it gives these information below (I have shared its links too).

mavros_msgs/CommandVtolTransition Service

http://wiki.ros.org/mavros_msgs
https://github.com/mavlink/mavros/blob/master/mavros_msgs/srv/CommandVtolTransition.srv

bool vtol_transition_cb (mavros_msgs::CommandVtolTransition::Request &req, mavros_msgs::CommandVtolTransition::Response &res)

ros::ServiceServer vtol_transition_srv

mavros::std_plugins::CommandPlugin Class Reference

When I tried to use the CommandVtolTransition from command.cpp, I had written like this according to this website:

https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/command.cpp
Where it writes these:

vtol_transition_srv = cmd_nh.advertiseService(“vtol_transition”, &CommandPlugin::vtol_transition_cb, this);

ros::ServiceServer vtol_transition_srv;

And this for vtol_transition_cb function

bool vtol_transition_cb(mavros_msgs::CommandVtolTransition::Request &req,
			mavros_msgs::CommandVtolTransition::Response &res)
	{
		using mavlink::common::MAV_CMD;
		return send_command_long_and_wait(false,
			enum_value(MAV_CMD::DO_VTOL_TRANSITION), false,
			req.state,
			0, 0, 0, 0, 0, 0,
			res.success, res.result);
	}

Therefore, I had written like this below in my .cpp file:

mavros_msgs::CommandVtolTransition change_VTOL_flight;
ros::ServiceClient arming_client_VTOL;

arming_client_VTOL = controlnode.serviceClient<mavros_msgs::CommandVtolTransition>(“/mavros/cmd/command/vtol_transition”);

I had written my above code according to the @Jaeyoung-Lim ros website you had given me yesterday ([Writing a Simple Service and Client (C++)](https://Writing a Simple Service and Client (C++))) .

For the namespaces given for the VTOL in mavros is like this while they defined it there:

    vtol_transition_cb()
    bool mavros::std_plugins::CommandPlugin::vtol_transition_cb	(	mavros_msgs::CommandVtolTransition::Request & 	req,
    mavros_msgs::CommandVtolTransition::Response & 	res 
    )

Therefore, I am kind of confused a lot right now about what is the correct way to write this while my above the initial configuration seemed like it was good but it failed still.

I have never used “rqt” before, so is there any nice tutorial about how to control a px4 ros drone in gazebo from there?

According to given technical information I have found above that I shared in the thread, what is the best way to solve this problem or what is the cause of this problem? As I said before, I am really confused right now which there is no solid solution or any working example in the internet to verify where did I do wrong or correct. This, I will be very glad if you (@Jaeyoung-Lim) would give me some small hints to solve this problem please? Because I don’t know whom to ask, thank you very much for replying me with patient always @Jaeyoung-Lim friend, thank you.

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