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

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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!