# m500 ROS

Source: https://forum.modalai.com/topic/2019/m500-ros
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-03-30 15:39:20 UTC by sesem738
Replies: 2 · Views: 412

## sesem738 · 2023-03-30 15:39:20 UTC

Hi team:

Following the procedure from “How to Run MAVROS on VOXL with PX4” we successfully get in to the process of testing mavros in off board flight mode.

When it runs, it show warning that:

 

[ WARN] [1162.141889870]: CMD: Unexpected command 520, result 0

[ INFO] [1164.120257369]: waiting for offboard mode

[ INFO] [1171.123370231]: HP: requesting home position

[ INFO] [1176.127489500]: WP: mission received

[ INFO] [1181.123081373]: HP: requesting home position 

 

How can we get position from the drone?

## Reply by Chad Sweet (ModalAI staff) · 2023-03-30 17:17:10 UTC

Have you seen voxl-mpa-to-ros? https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros

That might help?

## Reply by TPSetati · 2023-04-03 08:36:17 UTC

Good day

We are working on a Sentinel with VOXL2 and are getting a similar CMD warning as well as similar INFO logs. The documentation for VOXL MPA to ROS says "Coming soon", so does the voxl-mpa-to-ros package also work for VOXL2 on Sentinel?