I am trying to subscribe to “geometry_msgs/Twist” message and convert it into “px4_msgs/msg/TrajectorySetpoint” message. I only need to use vx and yaw speed in my differential drive robot.
I am successful to use “position=true” in “offboard_control_mode” and send the local setpoint through “px4_msgs/msg/TrajectorySetpoint” message.
I also successful to use “actuator=true” in “offboard_control_mode” and control the rover using “px4_msgs/msg/ActuatorControls0” message.
However, when I was publishing “px4_msgs/msg/TrajectorySetpoint” message with vx and yaw speed in 3.3 Hz. It failed. I sent “velocity=true” and “body_rate=true” through “offboard_control_mode” in 3.3 Hz together with the setpoint message but I cannot switch it to offboard mode.
How can we switch to offboard mode when only “velocity=true” and “body_rate=true” in the “offboard_control_mode” message? I already published the offboard message and the setpoint message in at least 2 Hz.
I am using Holybro Pixhawk 6c and Jetson Xavier NX.
I use Ros2 Foxy to send the uorb topic to Pixhawk through micrortps_client and micrortps_agent. There is no gps module on my pixhawk.