What is the actual coordinate of the input?

[chesternimiz]

Hi, It's very kind of you to provide such a great vel_ctrl tool so that I can send velocity commands directly. But what confused me is "What is the actual coordinate of the input"?

For example, if I send a Twist message with linear.x = 1, would this vel_ctrl node make the drone keep a speed of 1m/s to its front (its own frame )or to the north (ENU coordination or its odom frame)?

If I send a Twist message with linear.y = 1, would this vel_ctrl node make the drone keep a speed of 1m/s to its left (its own frame )or to the east/west (ENU coordination or its odom frame)?

I'd appreciate if you could help me.:)