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 External Position Estimation (Vision/Motion based) · PX4 Developer Guide 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!

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Hi, if you can include a snapshot of what you’re sending over the mavros/odometry/out topic, I can help

Your mavros version is probably older than 1.5.2. Please upgrade.