Offboard Control for Arduplane via roll,pitch,yaw (Mavros)

Hi all,

I wish to implement a different control algorithm for arduplane.
For me an ideal situation would be right a Ros node and then give the desired roll, pitch, yaw values.

Is this somehow possible. Has anyone ever tried using mavros setpoint attitude commands for Arduplane either in ardupilot or px4?

If there is any other way I would be happy to know


@tridge please help if you have any idea how can I control the attitude of my plane using ROS.