controller topic

[20221023lijia]

hello!Could you tell me how to start controller(e.g.px4ctrl) of the uav/ugv in the real world?

[South-River]

the ugv uses a mpc controller, and you should subscribe to the topic containing /cmd_vel.
the uav uses px4ctrl in our experiments, and subscribe to the drone_$(arg drone_id)_planning/pos_cmd like topic.