To move the UAV using velocity commands

[arjungupta1012]

Hello, I've been trying to move the UAV using velocity commands only instead of publishing PoseStamped or MultiDOFTrajectoryPoint, to essentially bypass the position controller (pid_carrot node and all).

In the rqt_graph, it can be seen that pid_carrot_node publishes on /red/mavros/setpoint_raw/attitude but when i publish a waypoint, no change can be seen in the values published on the above topic.

Is there any way to publish linear and angular velocities to move the drone?

[fpetric]

Hi, see discussion here (from last year) on the options of doing velocity commands and reasoning behind our "position-control based stack".