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Hector quadrotor how to turn on motor_pwm control

Hello, I installed hector quadrotor, and was able to controll it using /cmd_vel topic. However I would like to control it with pwm.

rostopic list shows me that /motor_pwm topic does not exist.

In my CMakeLists I have turned on both aerodynamics and propulsion:

configuration option(USE_EXTERNAL_CONTROLLER "Do not run the hector_quadrotor_controller_gazebo plugin." OFF) option(USE_PROPULSION_PLUGIN "Use a model of the quadrotor propulsion system" ON) option(USE_AERODYNAMICS_PLUGIN "Use a model of the quadrotor aerodynamics" ON)

The wiki page tells me I have to have matlab installed, however after matlab instalation and rebuilding my catkin_ws nothing changed.