The graph shows the visual odometry and LPE output from mavros
I am interfacing visual odometry with the px4 running the LPE (Local Position Estimator). I managed to fuse external position estimates:
My Odometry however outputs position and velocity, not just position. So, Does it make sense to feed both to LPE through mavros? That is, I am splitting the odometry message into pose and twist and publish them on
The LPE output I see on
Same graph as before, but LPE output is no longer present
mavros/local_position/pose is still looking good. However, next I wanted to check if the twist is actually fused. So I removed the
mavros/vision_pose/pose_cov publisher and only published the twist message. I was no longer observing any pose estimate from LPE:
I checked all of the following topics
and nothing is being published on either of them.
Some more information:
I did set the mavros parameter
true. On the px4, I set
12, meaning "Fuse vision position and vision yaw".