MAVROS

SetMode

• create a mavros_msgs.srv.SetMode client for the /mavros/set_mode topic
  • Mode options: MANUAL, GUIDED, HOL

thrusters

• publish a geometry_msgs.msg.TwistStamped message to the /mavros/setpoint_velocity/cmd_vel to control speed

TwistStamped messages

ie. twist message named 'mymessage': - Linear velocity can be modified with mymessage.twist.linear.[x(forwards)/y(backwards)] - measured in m/s - Angular velocity (rotating the boat) can be modified with mymessage.twist.angular.z - mesured in rad/s