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ROS / ros eco / packages / mavros / command

Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff

MAV_CMD_DO_SET_HOME (179)

Param (Label) Description Values Units
1 (Use Current) Use current location (MAV_BOOL_FALSE: use specified location). Values not equal to 0 or 1 are invalid. MAV_BOOL
2 (Roll) Roll angle (of surface). Range: -180..180 degrees. NaN or 0 means value not set. 0.01 indicates zero roll. min: -180, max: 180 deg
3 (Pitch) Pitch angle (of surface). Range: -90..90 degrees. NaN or 0 means value not set. 0.01 means zero pitch. min: -90, max: 90 deg
4 (Yaw) Yaw angle. NaN to use default heading. Range: -180..180 degrees. min: -180, max: 180 deg
5 (Latitude) Latitude
6 (Longitude) Longitude
7 (Altitude) Altitude m

without GPS

set home position
1
ros2 service call /mavros/cmd/set_home mavros_msgs/srv/CommandHome "{current_gps: false, yaw: 0.0, latitude: 32.46107376716858, longitude: 34.943326818586755, altitude: 100.0}"

command failed

1
ros2 topic pub /mavros/set_gp_origin geographic_msgs/msg/GeoPoint "{latitude: 32.0853, longitude: 34.7818, altitude: 50.0}"