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There are no services or topics to do this using ardrone_autonomy that I have seen. You either have to develop it yourself or you can use tum_ardrone which is based on ardrone_autonomy. It includes a GUI in which you can send commands similar to how you want to send them. An example from the README,

goto [doube x] [double y] [double z] [double yaw]

flies to position (x,y,z yaw), relative to current reference point. blocks until target is reached according to set parameters

So, you would type goto 0 0 0 90.0 in order to rotate 90 degrees. You can also write flight paths as a .txt file and load them from the GUI and have it execute them. If you want to do this via a node you may have to look at their code and see how they did this and copy it.

Here are the GitHub repo and entry on the ROS wiki.