Control thruster using overrideRCIn

[galversano]

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Issue

Hey everyone I’m trying to use mavros for control t200 thruster(pwm), I’m using ros2 and I’m using the topic of overrideRCIn but when I run this nothing happened, the thruster doesn’t spin

Does anyone know how to solve this? Or how to send pwm msg to motor with mavros?

MAVROS version and platform

ROS: foxy
Ubuntu: 20.04

[evan-palmer]

If you are trying to control an individual thruster using the OverrideRCIn input, you will need to verify that the SERVON_FUNCTION parameter for that respective thruster is set to PWM passthrough. Note that, by doing that, the ArduSub arm/disarm functionality will no longer stop you from sending commands to the thrusters. Here is an example that demonstrates how to do this.