# Moving the quadrotor in ardrone gazebo simulator [closed]

Hi, I am currently using the gazebo tum_simulator for ardrone. I am looking at the simulated environment in Rviz. I have a python subscriber/publisher code where I am getting the Pose(world coordinates plus quaternion orientation) of the quadrotor. I also know the destination's world co-ordinates.

My main aim - turn the quadrotor towards the destination and then head in a straight line towards it. How can I do this?

Other specific questions I have are What is base_link? The base_link for the drone is seen as 0 for all fields(as seen in rviz)

How do I interpret the pose quaternion I get for the drone? I read a little bit about quaternion and I know what it is but I can't figure out the reference axis and how to interpret it in this case.

In the simple case when quadrotor is on ground,I've realized that the yaw value in rviz gives me the orientation of the quadrotor rotated about the z-axis of the world(and its own z-axis).Similarly,the quaternion I get is x = 0,y = 0,z = -sin(theta/2),w = -cos(theta/2). I don't understand why though