I am trying to communicate between the FC and the Rasberry Pi 3. Currently, I’m using mavros_msgs/CommandLong.srv to send a COMMAND_LONG to do a REQUEST_MESSAGE for the GLOBAL_POSITION_INT. The autopilot has returned an ACK for me, but I have no idea about how to catch the data of GLOBAL_POSITION_INT from the autopilot. How do I receive/catch this data on mavros?
I have referred to some wiki pages:
- Requesting Data From The Autopilot — Dev documentation
- MAVLink Basics — Dev documentation
Command Protocol · MAVLink Developer Guide
None gives me an idea of how to catch the message I have requested.