What's the message format for mrs_msgs/ReferenceStamped?

[andrews-quest]

I'm trying to pass a velocity reference to /uav1/control_manager/reference like this:
rostopic pub /uav1/control_manager/reference mrs_msgs/ReferenceStamped.
The format of ReferenceStamped is unclear for me though, and error messages don't make it any easier for me.

I know that if there is particular point, to wicht the drone should fly, it can be set with rosservice call /uav1/control_manager/goto [1,0,3,0]. But the message type herein is mrs_msgs/Vec4 - how to specify ReferenceStamped is puzzling to me.

[klaxalk]

Hey, mrs_msgs/ReferenceStamped (https://ctu-mrs.github.io/mrs_msgs/interfaces/msg/ReferenceStamped.html) contains standard header and mrs_msgs/Reference. The only difference between the goto and the reference service is the ability to specify the frame of reference (within the TF tree) using the reference stamped.

Anyway, calling the service (or publishing the topic) from terminal is tricky and I would not recommend it. The service is supposed to be called from another program (rqt_gui, custom script, etc.)

[andrews-quest]

Thanks, that answers my question but to follow up, can the drone model be actually controlled by /uav1/control_manager/velocity_reference (I mistook it in my question above for /uav1/control_manager/reference)?

I'm trying now to publish VelocityReferenceStamped messages to it using a rospy script, where I set header.stamp to rospy.Time.now(), header.frame_id to map and, say, frame.velocity.x to 2.0 and it doesn't seem to produce any effect, although the topic readings are correct.

[klaxalk]

Hey, for that I would need to see the logs from the "core" tab of your tmux session and, if possible, also print of rostopic echo /uav1/control_manager/velocity_reference. Btw, are you publishing the velocity reference repeatedly at sufficient rate, i.e., 10 Hz+?

[andrews-quest]

It turns out, I should've looked into both things: the rate was insufficient, as well as the reference frame was false as indicated by WARN massages in the Core tab Transformer: Exception caught while looking up transform from "uav1/map" to "uav 1/gps_baro_origin": "uav1/map" passed to lookupTransform argument source_frame does not exist.

When I set the header.frame_id to gps_baro_origin, it worked without a hitch.

Much obliged!