I’m attempting to achieve direct actuator control of the four motors with ROS2 but it doesn’t seem to be working. I’ve previously achieved body rate and thrust control with relative ease in simulation and hardware.
Has anyone succeeded in doing actuator control? Right now I just need it to work in gazebo simulation with the Iris model but it seems to crash when I attempt to swtich from any other offboard message like position to direct_actuator.
Code blueprint I’ve been experimenting with is here