How to publish mav_ctrl

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How to publish mav_ctrl

Rachana
Hi,

I am trying to publish control commands to asctec_hl_comm/mav_ctrl.

$ rostopic pub /fcu/control asctec_hl_comm/mav_ctrl 'acceleration, 0, 0, 0.5, 0'
ERROR: Not enough arguments:
 * Given: ['acceleration, 0, 0, 0.5, 0']
 * Expected: ['header', 'type', 'x', 'y', 'z', 'yaw', 'v_max_xy', 'v_max_z']

Args are: [header.seq header.stamp header.frame_id type x y z yaw v_max_xy v_max_z]


What should I publish?
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Re: How to publish mav_ctrl

Abbas
I'm not sure how to publish on a topic using command line. However, I know that you need to publish the control commands in, at least, 10Hz. Otherwise asctec_mav_framework will ignore it.
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Re: How to publish mav_ctrl

Rachana
In reply to this post by Rachana
@Abbas thanks for the reply. Got the right command finally.

$ rostopic pub -r 10 /fcu/control asctec_hl_comm/mav_ctrl '{header: auto, type: 1, x: 0, y: 0, z: 0.5, yaw: 0, v_max_xy: 0, v_max_z: 0}'