# Modal AI RB5 Drone and MAVROS

**URL:** <https://discuss.px4.io/t/modal-ai-rb5-drone-and-mavros/28303>\
**Category:** ROS 1 / ROS 2\
**Created:** [July 15, 2022, 5:55pm UTC](https://discuss.px4.io/t/modal-ai-rb5-drone-and-mavros/28303 "2022-07-15T17:55:59Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![albud187](https://discuss.px4.io/user_avatar/discuss.px4.io/albud187/32/11106_2.png) [@albud187](https://discuss.px4.io/u/albud187)\
**Post date:** [July 15, 2022, 5:55pm UTC](https://discuss.px4.io/t/modal-ai-rb5-drone-and-mavros/28303/1 "2022-07-15T17:55:59Z")

</div>

Hi, I’m trying to setup offboard control of a modal AI RB5 Drone ( [Qualcomm Flight RB5 5G Platform Drone Reference Design | ModalAI, Inc.](https://www.modalai.com/products/qualcomm-flight-rb5-5g-platform-reference-drone?variant=39517470326835)

This drone runs PX4. So far I’m able to connect to it and arm it over Q Ground control as well as `rosservice call /mavros/cmd/arming True`

I can `rostopic echo` several topics and it seems to be working as intended.

so my next step is to try sending velocity commands to it. I try using rqt to publish to `/mavros/setpoint_velocity/cmd_vel`  
However this appears to have no effect. I have the props removed and the drone armed. With the drone arm, its motors spin at a constant speed, and that speed does not change after publishing to `/mavros/setpoint_velocity/cmd_vel`

How do I get the drone to respond to velocity / position commands? Is there some kind of configuration I have to do at the PX4 side on the drone or is it an issue on the MAVROS side on my computer?