Running tasks parallel to an action

Hey Janak,

A lot of information here, let’s take it one by one. Please check the following:

  1. What kind of message is in cmdVel? It should be of type “Empty” for takeoff and land. I asked as I didn’t see that part of your code.
  2. Publishing to a publisher does not work if it’s not yet “ready”. This usually happens if you try to publish immediately after creating the publisher.

Have a look at that and then let’s know what’s left.