I am trying to learn autonomus drone control. For now, i am running PX4 firmware in Gazebo 7 and controlling it via MavROS

I followed official PX4 tutorial in the following link: https://dev.px4.io/en/ros/mavros_offboard.html

In this simple tutorial, drone takes off and hover at 2m altitude for a few seconds and then lands. After tihs tutorial, i changed code so drone moves more, like going 15 meters forward, turning left and going 20 meters more etc.

When i publish a setpoint, i publish it a lot of times so i am sure that setpoint is reached. But i want to know when spesific setpoint is reached, so i can publish next setpoint. I looked at MavROS Wiki for a ready-to-use solution, but couldn't find what i need.

Therefore, i want to ask here. How would you determine if a setpoint is reached?

Ubuntu 16.04.03 ROS-Kinetic Gazebo-7