I am communicating my Pixhawk Cube with ROS and I am trying to control the orientation of the Quadrotrotor with the topic /mavros/setpoint_raw/attitude, where it receives the quaternions and the thrust as input parameters. The problem is when I try to publish in the Thrust parameter, the Quadrotrotor changes from the offboard mode to altitude mode, on the other hand if I don’t publish anything to the Thrust parameter the Quadrotrotor crashes but does not leave the offboard mode. On the other hand, I am using the RFD (sik) temetry radio to send and receive data through mavros, that is, ROS runs on a computer on the ground. The speed of communication of MAVROS through telemetry antennas is of 57600 bauds.
Has anyone been able to control the orientation and thrust through the topic /mavros/setpoint_raw/attitude by making a communicating through MAVROS using a RFD (sik) temetry radio ( RFD 900+ Modem)?