Ros2+px4 rover offboard mode

[samirertt]

Describe the bug

so am trying to use the rover r1 and trying to use it in offboard mode first i tried using px4_msgs::msg::TrajectorySetpoint but this msg is not for rover i think its for copter so i started using px4_msgs::msg::VehicleThrustSetpoint + px4_msgs::msg::VehicleTorqueSetpoint to be able to move the rover but am not able to move the rover.
my code is this what am i doing wrong ?

To Reproduce

i have used this example

`/****************************************************************************
*

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/**

• @brief Offboard control example
• @file offboard_control.cpp
• @addtogroup examples
• @author Mickey Cowden info@cowden.tech
• @author Nuno Marques nuno.marques@dronesolutions.io
  */

#include <px4_msgs/msg/offboard_control_mode.hpp>
#include <px4_msgs/msg/trajectory_setpoint.hpp>
#include <px4_msgs/msg/vehicle_thrust_setpoint.hpp>
#include <px4_msgs/msg/vehicle_torque_setpoint.hpp>
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <rclcpp/rclcpp.hpp>
#include <stdint.h>

#include
#include

using namespace std::chrono;
using namespace std::chrono_literals;
using namespace px4_msgs::msg;

class OffboardControl : public rclcpp::Node
{
public:
OffboardControl() : Node("offboard_control")
{

	offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
	vehicle_thrust_setpoint_publisher_ = this->create_publisher<VehicleThrustSetpoint>("/fmu/in/vehicle_thrust_setpoint", 10);
	vehicle_torque_setpoint_publisher_ = this->create_publisher<VehicleTorqueSetpoint>("/fmu/in/vehicle_torque_setpoint", 10);
	vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", 10);

	offboard_setpoint_counter_ = 0;

	auto timer_callback = [this]() -> void {

		if (offboard_setpoint_counter_ == 10) {
			// Change to Offboard mode after 10 setpoints
			this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);

			// Arm the vehicle
			this->arm();
		}

		// offboard_control_mode needs to be paired with trajectory_setpoint
		publish_offboard_control_mode();
		publish_vehicle_thrust_setpoint();
		publish_vehicle_torque_setpoint();

		// stop the counter after reaching 11
		if (offboard_setpoint_counter_ < 11) {
			offboard_setpoint_counter_++;
		}
	};
	timer_ = this->create_wall_timer(100ms, timer_callback);
}

void arm();
void disarm();

private:
rclcpp::TimerBase::SharedPtr timer_;

rclcpp::Publisher<OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
rclcpp::Publisher<VehicleCommand>::SharedPtr vehicle_command_publisher_;
rclcpp::Publisher<VehicleThrustSetpoint>::SharedPtr vehicle_thrust_setpoint_publisher_;
rclcpp::Publisher<VehicleTorqueSetpoint>::SharedPtr vehicle_torque_setpoint_publisher_;



std::atomic<uint64_t> timestamp_;   //!< common synced timestamped

uint64_t offboard_setpoint_counter_;   //!< counter for the number of setpoints sent

void publish_offboard_control_mode();

//void publish_trajectory_setpoint();
void publish_vehicle_thrust_setpoint();
void publish_vehicle_torque_setpoint();
void publish_vehicle_command(uint16_t command, float param1 = 0.0, float param2 = 0.0);

};

/**

• @brief Send a command to Arm the vehicle
  */
  void OffboardControl::arm()
  {
  publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0);

  RCLCPP_INFO(this->get_logger(), "Arm command send");
  }

/**

• @brief Send a command to Disarm the vehicle
  */
  void OffboardControl::disarm()
  {
  publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);

  RCLCPP_INFO(this->get_logger(), "Disarm command send");
  }

/**

• @brief Publish the offboard control mode.

•    For this example, only position and altitude controls are active.
  

*/
void OffboardControl::publish_offboard_control_mode()
{
OffboardControlMode msg{};
msg.position = false;
msg.velocity = false;
msg.acceleration = true;
msg.attitude = false;
msg.body_rate = false;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
offboard_control_mode_publisher_->publish(msg);
}

/**

• @brief Publish a trajectory setpoint

•    For this example, it sends a trajectory setpoint to make the
  

•    vehicle hover at 5 meters with a yaw angle of 180 degrees.
  

/
/
void OffboardControl::publish_trajectory_setpoint()
{
TrajectorySetpoint msg{};
msg.position = {5.0, 0.0, 0.0}; // Move 5m forward, 3m right, stay on ground
msg.yaw = 1.57; // Face right (90 degrees)
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher_->publish(msg);
}
*/

void OffboardControl::publish_vehicle_thrust_setpoint()
{
VehicleThrustSetpoint msg{};
msg.xyz = {1.0, 0.0, 0.0};
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_thrust_setpoint_publisher_->publish(msg);
}

void OffboardControl::publish_vehicle_torque_setpoint()
{
VehicleTorqueSetpoint msg{};
msg.xyz = {0.0, 0.0, 1.0};
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_torque_setpoint_publisher_->publish(msg);
}
/**

• @brief Publish vehicle commands
• @param command Command code (matches VehicleCommand and MAVLink MAV_CMD codes)
• @param param1 Command parameter 1
• @param param2 Command parameter 2
  */
  void OffboardControl::publish_vehicle_command(uint16_t command, float param1, float param2)
  {
  VehicleCommand msg{};
  msg.param1 = param1;
  msg.param2 = param2;
  msg.command = command;
  msg.target_system = 1;
  msg.target_component = 1;
  msg.source_system = 1;
  msg.source_component = 1;
  msg.from_external = true;
  msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
  vehicle_command_publisher_->publish(msg);
  }

int main(int argc, char *argv[])
{
std::cout << "Starting offboard control node..." << std::endl;
setvbuf(stdout, NULL, _IONBF, BUFSIZ);
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared());

rclcpp::shutdown();
return 0;

}`

Expected behavior

any movement

Screenshot / Media

No response

Flight Log

No response

Software Version

latest version of px4 16beta

Flight controller

No response

Vehicle type

Rover

How are the different components wired up (including port information)

No response

Additional context

No response