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Receives observe-position command

SUB 
{AgentBaseTopic}/exec/command

Single topic carrying every task command, plus control signals ($abort/$pause/$continue/$enough) for the currently executing task. Message type is discriminated by payload structure: the command field for commands/signals (start-task vs. signal-task), and for signals, the signal field's value.

MQTT​

QoS1
retainfalse

Message observe-position​

Receives observe-position command
{
  "com-uuid": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
  "task-uuid": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
  "command": "start-task",
  "execution-unit": "MiniUAV1",
  "sender": "commander",
  "task": {
    "name": "observe-position",
    "params": {
      "distance": 10,
      "duration": 20,
      "geopoint": {
        "latitude": 57.7611363,
        "longitude": 16.6805011,
        "altitude": 47.81,
        "rostype": "GeoPoint"
      },
      "height": -1,
      "speed": [
        10.5
      ]
    }
  }
}