ROS change home CMD_DO_SET_HOME, ACK : temporary rejected

ROS / MAVROS / MicroDDS
1

Hello , for my application a i need to change the HOME position by ROS and micro xrce /client agent.

I use the topic /fmu/in/vehicle_command to do this :

def send_home_position_command(self):
for _ in range(5):

        command = VehicleCommand()
        command.timestamp = int(self.get_clock().now().to_msg().sec * 1e9)
        command.command = VehicleCommand.VEHICLE_CMD_DO_SET_HOME
        command.param1 = 0.0
        command.param5 = float(self.latitude_cible)
        command.param6 = float(self.longitude_cible)
        command.param7 = float(self.altitude_cible)
        command.confirmation = 1
        command.target_system = 1
        command.target_component = 1
        command.source_system = 255
        command.source_component = 0
        command.from_external = False

        print(f"Commande de position de départ envoyée avec les paramètres : param5 (latitude) = {command.param5}, param6 (longitude) = {command.param6}, param7 (altitude) = {command.param7}")

        self.command_publisher.publish(command)
        time.sleep(1)

The command is correctly published on the good topic and I recive a command_ack, but the ACK is always 1 "temporary rejected "?!!

Why px4 reject my command ?

How can i change the home position via ros ?

Thanks

2

i awser to myself :

is possible only when px4 have a gps fix !!

I can change the home position now when I 'm outside my office !

But the manually set home position is not the reference for /fmu/out/vehicle_local_position

i have exposed to ROS 2 /fmu/out/home_position where X Y and Z is relative to my new home , but the frequency of this topic is 0.2 hz !! :frowning:

Is there any solution to have X Y and Z relative to a custom GPS position with a decent frequency ?