Simulating Manual Control using Mavros

[patrickelectric (Patrick José Pereira)]

Hello Juan,

I’m glad that my comments were useful for you.

I can see from the state topic that the vehicle is armed in manual mode, are you able to control this ROV via QGroundControl ?
You’ll not be able to control the motors individually with rc/override, take a look about it here:

ROS support for BlueROV2

I see now what are you trying to do The rc_channel topic follows rc-input-and-output documentation. Take a look in the BlueRov2 frame: [image] RC Inputs These are the default channel mappings for RC input: Channel Meaning 1 Pitch 2 Roll 3 Throttle 4 Yaw 5 Forward 6 Lateral 7 Reserved 8 Camera Tilt 9 Lights 1 Level 10 Lights 2 Level Each /BlueRov2/rc_channelX/set_pwm, where X is the channel number, send a RC value like the joystick. /Blu…