I aim to have the copter to have some degree of autonomy by achieving position control and object avoidance. But still, user should be able to give some high level orders(like go forward 2 m , go up some distances) without worrying about crushing.
I use RPLidar A2 for the object avoidance. Before I was running everything from the GCS: taking joystick input, added by the rplidar avoidance correction and send to /RC/Override. It than crushed. Problem being: the delay from WIFI is not a constant and could lead to crush in those situations.
This lead me to implementing on-board avoidance. But now the joystick-output topic (I wrote a interface myself) can't be reached by the erle side anymore. In ROS it shows subscribed but not connected.
This lead to me to the following assumption: Is Mavros and mavros/topics the only communication bridge from GCS to Erle? Which topics are available for custom messages like my user intensions? I am planning on flying out of line of sight without Remote Control, so understanding the communication is important for me.