I am running a gazebo simulation with multiple UAVs, using mavros, and I want to get the pose of the UAV in relation to gazebo origin, how can I do this?
For example, I am spawning one of the UAVs at gazebo coordinates
x=2.5, y=-5, z=0, if I subscribe to the topic
/mavros/local_pition/pose I get the following msg:
header: seq: 518 stamp: secs: 19 nsecs: 472000000 frame_id: "map" pose: position: x: 0.00669627590105 y: 0.0170770008117 z: -0.0405758097768 orientation: x: 0.0108658369501 y: -0.00837003212551 z: 0.0162885346909 w: -0.999773274988
Instead of geting ~(0,0,0) I want to get (2.5, -5, 0), is it possible to do something like this? If I could get the offset of the spawn location I could just calculate the difference myself.