I am trying the offboard_control example at px4_ros_com/src/examples/offboard/offboard_control.cpp at px4_ros_com/src/examples/offboard/offboard_control.cpp at main · PX4/px4_ros_com · GitHub. I am able to control the drone trajectory from the topic fmu/in/trajectory_setpoint.
However, when I try the multi-drone configuration and the topic becomes /px4_1/fmu/in/trajectory_setpoint , I am not able to control the drone even after I change the topic in the publisher to be the new topic. I am using the below command to instantiate the SITL for multi-drone:
PX4_SYS_AUTOSTART=4001 \
PX4_SIM_MODEL=gz_x500 \
./build/px4_sitl_default/bin/px4 -i 1
I have modified the topics in offboard_control to the new topics with px4_1 prefix. I have also successfully sent a vehicle command by updating the target_system field.
Is there any other parameter to configure to send the trajectory setpoint for multi-drone configuration?
Thanks for your help.