Hi everyone,
I’m currently working on a project that integrates ArduPilot with a motion planner and visual-inertial odometry. I was using MAVROS in ROS1 with the ~setpoint_raw/local ([mavros_msgs/PositionTarget] which publishes mavros_msgs/PositionTarget messages and sends the MAVLink command SET_POSITION_TARGET_LOCAL_NED.
I’m now planning to migrate to AP_DDS, since I understand it offers some benefits over MAVROS 2, and I’d like to know:
Does ArduPilot support sending SET_POSITION_TARGET_LOCAL_NED commands through AP_DDS, similar to how MAVROS does with /mavros/setpoint_raw/local?
I’m aware of the existing ap/cmd_gps_pose topic, which uses ardupilot_msgs/msg/GlobalPosition, but for my application it would be much better to send setpoints in a local coordinate frame.
Any guidance would be greatly appreciated!