How to PX4 drone move forward, backward, left, and right using mavros?

I can take off and land the drone through mavros by
rosrun mavros mavcmd takeoffcur 0 0 5,
rosrun mavros mavcmd landcur 0 0 and
“op”: “call_service”,
“service”: “/mavros/cmd/takeoff”,
“min_pitch”: 0,
“yaw”: 0,
“latitude”: 8.5456068,
“longitude”: 47.3977505,
“altitude”: 0
but I don’t know how to make it fly around. Could anyone help? Thank you!