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mavros: How to use setpoint_raw/local and set the FRAME_BODY_OFFSET_NED flag

asked 2017-12-23 06:50:09 -0600

MaximeRector gravatar image

updated 2017-12-23 18:33:28 -0600

jayess gravatar image

Hi,

I'm using the mavros package but I'm not sure on how to use a certain message type. I want to use this: setpoint_raw/local (mavros_msgs/PositionTarget) message type and want to set the FRAME_BODY_OFFSET_NED flag, but I'm not sure on how to do it. Can someone explain this to me?

I was also planning to use the velocity part of the message, but thats quite simple. I will do it as folow:

vel_msg.velocity.x = 0.1;
vel_msg.velocity.y = 0.0;
vel_msg.velocity.z = 0.0;

Of cours I will first declare the publisher and the message.

Message type

Mavros

Thanks!

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answered 2017-12-24 12:32:12 -0600

clyde gravatar image

FRAME_BODY_OFFSET_NED is a flag that's defined in the message. By convention, flags should have the same prefix as the message field that they relate to. In this case the FRAME_* flags are directly below the coordinate_frame field, so they appear to be related. A quick Google search reveals a code snippet that confirms this hypothesis:

moveMsg.coordinate_frame = mavros_msgs::PositionTarget::FRAME_BODY_OFFSET_NED;

Happy roboting!

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Asked: 2017-12-23 06:50:09 -0600

Seen: 700 times

Last updated: Dec 24 '17