some question about uav_simulator

[Mealoore]

When using your so3 simulator, I publish the command

header: 
  seq: 21
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
position: 
  x: nan
  y: nan
  z: nan
velocity: 
  x: 0.0
  y: 0.0
  z: 0.0
acceleration: 
  x: 0.0
  y: 0.0
  z: 0.0
yaw: 2.0
yaw_dot: 0.0
kx: [0.0, 0.0, 0.0]
kv: [0.0, 0.0, 0.0]
trajectory_id: 0
trajectory_flag: 0

the height of uav is not correct, I think it should be at original point

[bigsuperZZZX]

I'm not quite sure about that. You could compare the original messages from the traj_server node with your messages to find the problem.

[Mealoore]

As for my question, that is to say, how should I pub the message, for speed control and yaw or yaw rate control?

[bigsuperZZZX]

The simulator does not support yaw rate control. As for other control methods, please check this function for the details. There are too many flags and code logics that I can't remember precisely.

[Mealoore]

The simulator does not support yaw rate control. As for other control methods, please check this function for the details. There are too many flags and code logics that I can't remember precisely.

how about yaw control? I just need speed control and yaw control without position control.

[bigsuperZZZX]

Please check that function of dozens of lines to find your solution.