OFFBOARD MODE doesn't work for actuator_control topic

Hello I am testing the actuator_control topic to control each motors individually for multicopter SITL.

However, publishing this topic does not allow me to change to OFFBOARD mode.

I have tried disabling the lockstep but still nothing

If anyone successfully used this topic or is able to control each motor individually please help

Thank you,
Kangmin Lee

I have the same question, sadly. Especially looking for a neat way of doing this, instead of just overwriting the actuator_control topic via RTPS since this requires me to remove the internal controller entirely, which I want to keep so I can switch between different control modes…

Btw; since one of the last updates it is possible to also send actuator commands via offboard commands. I think you still need to account for the mixer that is transforming these into motor commands though.