MAVRos--SetMavFrame更改速度控制的坐标系

使用服务（Service）来更改速度控制的坐标系
mavros支持的坐标系

uint8 FRAME_GLOBAL=0
uint8 FRAME_LOCAL_NED=1
uint8 FRAME_MISSION=2
uint8 FRAME_GLOBAL_RELATIVE_ALT=3
uint8 FRAME_LOCAL_ENU=4
uint8 FRAME_GLOBAL_INT=5
uint8 FRAME_GLOBAL_RELATIVE_ALT_INT=6
uint8 FRAME_LOCAL_OFFSET_NED=7
uint8 FRAME_BODY_NED=8
uint8 FRAME_BODY_OFFSET_NED=9
uint8 FRAME_GLOBAL_TERRAIN_ALT=10
uint8 FRAME_GLOBAL_TERRAIN_ALT_INT=11
uint8 FRAME_BODY_FRD=12
uint8 FRAME_BODY_FLU=13
uint8 FRAME_MOCAP_NED=14
uint8 FRAME_MOCAP_ENU=15
uint8 FRAME_VISION_NED=16
uint8 FRAME_VISION_ENU=17
uint8 FRAME_ESTIM_NED=18
uint8 FRAME_ESTIM_ENU=19
uint8 mav_frame

操作指令

mavros_msgs::SetMavFrame setmavframe;
setmavframe.request.mav_frame = 8;