Hi, I am currently using Gazebo to test out some algorithms with ROS2, and to spawn the vehicle I am using the command
PX4_GZ_MODEL_POSE="0,0,0,0,0,0" make px4_sitl gz_x500
I noticed that the spawned vehicle’s odometry (from /fmu/out/vehicle_odometry) is off by almost 20cm on every axis (it oscillates between 0 and 40 cm) and that the drone starts with a 90-degree rotation around the z-axis, always according to the odometry.
Is there a way to initialize the odometry to 0 on every field by setting some parameters? My current idea is to publish an “initial position” onto the visual odometry topic to set it to 0 at the start of the simulation.