Hi, I’m working on drive my ASV (differential drive catmaran, pixhawk, ardurover, raspberry pi) with ROS.
I want to confirm that /mavros/global_position/local is the current X-Y position, in ECEF coordinate and with origin in the home position. I mean, using this topic I can know the ASV position relative to the home position.
I want to confirm that using /mavros/setpoint_velocity(_position, I don’t remember wich one is correct)/cmd_vel I can gives velocity commands to the boat.
and finally I would like to confirm tha GUIDED mode is the one used to drive the boat with mavros and that I need to publish to cmd_vel topic at some rate before passing to GUIDED mode.