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std_msgs/Header header
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uint8 Mode #控制模式
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##控制模式类型枚举
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uint8 Stop=0
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uint8 Forward=1
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uint8 Left=2
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uint8 Right=3
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uint8 Back=4
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uint8 CMD=5
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uint8 Waypoint=6
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float64 linear
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float64 angular
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## 航点
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RheaGPS[] waypoint
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