How can I disable GPS in ros/mavros and sent the points myself?

asked 2021-08-08 05:21:54 -0600

Rika gravatar image

updated 2021-08-08 05:28:38 -0600

Hello everyone, hope you are doing great.
I created a simple mavros node that takes off, goes to a location and then comes back to its home location (code given below). however, this is inside gazebo and it uses fake gps. my next step is to provide the gps position myself.
I could publish my gps locations (lat, lon, alt) through the mavros/global_position/global topic. and then read from it. the issue now is, the ros fake gps also publishes coordinates to this topic. I want to disable that and see if my quadrotor does go to a custom gps point that I send it to.
I also noticed there is something called mocap=true in rosparam list. Is this in any way related to the quadrotor navigation using GPS location? what if I dont have it? can I simulate that as well like gps? (I'm trying to navigate a drone in offboard mode from my current location to another location using gps coordinates that are not generated by a gps sensor, but myself )

Thanks a lot in advance

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