Hello everyone,
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.
Thank you