Hi px4 developers and Users,
we are currently having issues with PX4 to do fully indoor autonomous navigation as if it would be in outdoor (with GPS). Bellow you may find a description of the setup and issue we are facing.
- Nvidia Jetson Tx2 running ROS Melodic
- Hollybro Durandal(v1.0 w/ STM32H743) running PX4 from Master.
The main objective is to do navigation with VIO(provided by intel T265) over an on-board companion computer(in my case Nvidia Jetson) in fully indoor environment(no GPS connected at all).
I have all setup correctly and as advised in several forums and https://dev.px4.io/v1.9.0/en/ros/external_position_estimation.html
For the purpose I used the VIO ros package from https://github.com/Auterion/VIO to do the transformation from the T265 coordinates to ENU and finally to NED.
The pose data is transmitted and received proper by PX4. Its possible to see the frames arriving on the LOCAL_POSITION_NED.
On Rviz is possible to see the drone moving around and coordinates are properly displayed.
The issue seems to be that all the PX4 autonomous flight behavior are performed in global coordinates(@baumanta correct me if I am wrong).
So, of course, I am not able to get the global position or home position(unless this is faked, I assume ).
So at the moment, we are kinda stuck on what could be done in order to achieve our objectives with PX4. I know that with Ardupilot this is already possible.
An alternative would be to perform all operations in Offboard mode. But then I assume I cannot use QGroundControl to upload missions(as easy at least) directly to the FC. This would have to be done through the companion pc.
Any hints or help would be appreciated.