I’m trying to control a drone using the micrortps_bridge with ROS 2.
As far as I understood, these are the topics that I can subscribe or publish
battery_status: adc_report: air_speed: cpu_load: distance_sensor: estimator_status: home_position: iridiumsbd_status: radio_status: satellite_info: sensor_baro: sensor_combined: sensor_selection: vehicle_attitude: vehicle_odometry: vtol_vehicle_status: wind_estimate: collision_constraints:
camera_capture camera_trigger collision_report debug_array debug_key_value debug_value debug_vect: obstacle_distance optical_flow position_setpoint: position_setpoint_triplet trajectory_waypoint vehicle_trajectory_waypoint vehicle_mocap_odometry vehicle_visual_odometry
I’m able to subscribe the different topics (some of them are not sending data). Also I’m able to publish some data, I checked this using px4-listener with the topic debug_vect.
The questions is:
How I should configure the drone or in which topic should I need to publish to be able to arm, takeoff and/or land?
Right now I’m trying to publish data in the topic
position_setpoint setting the following:
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint valid = true type = SETPOINT_TYPE_TAKEOFF