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Mavros global position plugin

Topic msg Mavlink Notes
~/raw/fix GPS_RAW_INT The global position, as returned by the Global Positioning System
~/raw/gps_vel
~/global NavSatFix GLOBAL_POSITION_INT The filtered global position
~/local Odometry GLOBAL_POSITION_INT
~/rel_alt
~/compass_hdg
~/gp_origin GPS_GLOBAL_ORIGIN Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted
~/gp_lp_offset
~/raw/satellites
~/set_gp_origin SET_GPS_GLOBAL_ORIGIN Sets the GPS coordinates of the vehicle local origin (0,0,0) position (DEPRECATED: replace by MAV_CMD_SET_GLOBAL_ORIGIN)

GPS_GLOBAL_ORIGIN

Check mavlink common 

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  ros2 service call /mavros/set_message_interval mavros_msgs/srv/MessageInterval "{\"message_id\": 49, \"message_rate\": 2 }"
  ```

```bash title=""
# it take faw seconds until GPS fix
ros2 topic echo /mavros/global_position/gp_origin


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ros2 service call /mavros/cmd/command_long mavros_msgs/srv/CommandLong "{
  broadcast: false,
  command: 409,
  confirmation: 0,
  param1: 0.0,
  param2: 0.0,
  param3: 0.0,
  param4: 0.0,
  param5: 32.461073,
  param6: <longitude>,
  param7: <altitude>
}"