I’m currently run some simulation in jMAVSim and use mavros to connect my python script and the PX4 autopilot. What I want to do is to receive the groundtruth state of vehicle from jMAVSim during the flight, so I can run some check and terminate experiment early to save the time.
PX4 autopilot use the mavlink message HIL_STATE_QUATERNION to record the groundtruth state from jMAVSim, so I presume subscribe this topic would get the data I wanted.
However, my ros client in python script cannot receive the same topic. Maybe I can use another client listening to the simulator port and receive this message. But before that, I would like to know, is there any other ways to extract the groundtruth state from jMAVSim?