Sending command for /toMAVLINK topic


i am trying to understand how does it work mavlink_ros . There are two topic, /fromMAVLINK and /toMAVLINK. 

From the /fromMAVLINK topic i received information about: seq, stamp, secs, nsecs, frame_id, len, seq, sysid, compid, msgid, fromlcm, payload64. That information is from the Arducopter, but now i want to send a command for the /toMAVLINK topic, what is the format, someone has an example ?


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