Controlling the drone

Hi Srikar,

Pitch and roll will be controlled using setpoint_attitude topic, though if you use position control or velocity control, you cannot independently control pitch and roll as well.

http://wiki.ros.org/mavros#mavros.2FPlugins.setpoint_attitude

Attitude control will typically be used when you are doing Model Predictive Control for example, or if you want to do very precise visual-servoing, say using image-based visual servoing.

See if you can get by with /mavros/setpoint_position/cmd_vel_unstamped? Note that for any form of offboard control, your setpoint shave to be published at atleast 2Hz, we typically use 10Hz for position or velocity control.

-JD