Accepts PoseStamped for position and yaw

• The Pose message position is sent to controllers
• Only yaw from orientation quaternion is sent
• TF : position + yaw from orientation quaternion is sent

Topics :

• /mavros/setpoint/local_position

Parameters :

• position/listen_tf (bool) - Listen for desired position setpoint transforms
• position/frame_id - Frame for TF
• position/child_frame_id - Child frame for TF
• position/tf_rate_limit - Limit tf publish rate (default 10Hz)