rosrun mavros mavsys mode -c OFFBOARD rosrun mavros mavsafety arm rosrun mavros mavcmd takeoff 1 1 1 1 1 rostopic pub mavros/setpoint_velocity/cmd_v geometry_msgs/TwistStamped "{header:{}, twist: {linear: {x: 0, y: 0, z: 2}, angular: {x: 0…