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Sorry for not updating, I solved my problem. Turns out that the standard tum_simulator is not compatible with Indigo. I would suggest you to check this repository instead if you're using Indigo (and possibly more recent versions). https://github.com/dougvk/tum_simulator I was able with some tweaking to create a naif controller that applies a velocity proportional to the distance up to a certain distance where the drone hovers near the point, I'm not yet satisfied with this implementation but that goes beyond the scope of this question.