This package is responsible for generating trajectories based on messages from "/mavros/rc/in" topic. In other words, if you have a remote controller at hand, which in our case is Futaba 14SG, you can generate 4DOF trajectories as you move the joysticks. And the signals from switches can also be used for mode, swtiching, arm, kill or other functions.
Connect the Pixhawk hardware(with the rc receiver) to the computer, open the remote controller, and start the mavros connection.
If it is for generating the trajectory only, navigate to uav_offboard/resource/rc_configuration.yaml, and set the parameter need_offboard to false.
Navigate to the workspace, open a terminal, and enter the commands below:
source ./devel/setup.bash
roslaunch uav_offboard rc_command_processing.launchThe trajectory points will be published to the topic "/command/trajectory".
If it is for generating the trajectory in offboard control mode, you should connect the battery and go outdoors, be careful about the rotors. Navigate to uav_offboard/resource/rc_configuration.yaml, and set the parameter need_offboard to true.
source ./devel/setup.bash
roslaunch uav_offboard rc_command_processing.launch