I am trying to do the following with Hector_quadrotor :

1- taking off the quadrotor to a certain altitude, lets say 2 meters and hover .

2- flying forward (along the y-direction or x-direction) while maintaining the same height (2m).

3- Acquire the quadrotor position and orientation (same as topic /odom for Turtlebot)

4- Enable a camera (if possible) on board to receive images that the quadrotor acquired ( I subscribed to the topic /camera/rgb/image_raw in the case of Turtlebot.

I dont know which topic(s) exactly should I publish in/ subscribe to do the above. I have tried to publish on the /cmd_vel ( topic (loop) (z=2): velmsg.Linear.Z = 2; velmsg.Linear.Y = 1.5; (2, 2.5,3,3.5) velmsg.Linear.X = 0; each time the loop runs the quadrotor moves to new x position even though its already set to 0 ( like the quadrotor should fly only forward) also the new X And Y position seems bit random . I use Matlab to generate the coordination (messages) , Kinetic and Gazebo7

are those possible? or i misunderstood some concepts ?