Mavros init position and orientation

Hi Dear people.

I do have a pixhawk mini with 3DR gps and a ROS runing on a Jetson tx2.

A 3D mapping based on rtabmap wanted to be carried out using a zed camera.

Some problems have showed up.

1.- in the topic /mavros/global_position/local, I can see the
[x] almost zero,
[y] had shifted about 2 meters,
[z] around 2 metrs,
orientation [w] is -0.22.

How can I set up the orientation to
so they can be aligned with the xyz of the zed camera?

Thank you :slight_smile: