Yes, in the script https://github.com/anbello/aruco_gridboard/blob/master/script/mavros_control1.py (copied from https://github.com/vincekurtz/ardupilot_gazebo/blob/master/src/mavros_control.py with little modifications) you can see that I send pose to /mavros/setpoint_position/local after setting guided mode, arming and takeoff.