OFFBOARD mode using VIO

Hi,
I’m using Pixhawk 2.4.8 + Jetson Xavier NX and i’m using VINS_FUSION for localization of my drone…please help me with how can i use OFFBOARD mode and what topic i need to publish to make my drone fly and also my drone should take inputs of local position from VINS_FUSION because i’m not using GPS …
Thankyou…