Mavros Visual Odometry Data

I’m running the PX4 in sitl mode with ROS melodic with the intent to simulate a GPS denied environment. To do so I want to take my vio odometry info coming from my rgbd camera and fuse it with the EKF in place of the GPS.

Documentation https://dev.px4.io/v1.9.0/en/ros/external_position_estimation.html indicates I should publish to /mavros/odometry/odom but there are no subscribers to it. Forums indicate it should be to /mavros/odometry/out

I have a node publishing nav_msgs/Odometry to /mavros/odometry/out from rtabmap’s
rgbd_odometry publishing at ~10Hz. With EKF2_AID_MASK set to 24 I’m getting the following mavlink error.

ERROR [mavlink] Estimator source 0 not supported. Unable to publish pose and velocity

MAV_ESTIMATOR_TYPE indicates that I would expect it to be MAV_ESTIMATOR_TYPE_VIO

I don’t see any documentation on how to do this so help would be appreciated. Thanks!