I would like to test fusing my own odometry data into the local position estimation within SITL / gazebo, following this tutorial.
But my pose messages do not seem to arrive anywhere.
Also, there already is vision data published by the simulation although I didn’t set up anything alike and there even is no camera at all.
I’m using ROS, so I launch
roslaunch px4 mavros_posix_sitl.launch
mavros_posix_sitl.launch file I’ve set
<arg name="est" default="lpe"/>.
In QGroundControl, I’ve set
ATT_EXT_HDG_Mto 1 for “vision”
LPE_FUSIONto “fuse vision position” and “fuse vision yaw”.
Without publishing any position messages, it is possible to takeoff.
LPE_VIS_Z parameters do effect the flight behavior (shakiness).
Thanks to this thread, I’ve been able to track down where these messages come from (but not really how to avoid them).
On the other hand, if I publish
PoseStamped messages to
/mavros/vision_pose/pose they are ignored:
- The iris quadcopter in gazebo does not behave differently.
- They do not show up in
I also tried publishing these messages using the
I get similar results using EKF2.
Am I doing something wrong?
How to disable the built-in vision position?
And more importantly: How do I make my vision position messages count?
I’m quite the PX4 newbie, so any help is appreciated.