Hi everyone, I’m working on a UAV project using PX4 v1.14.4. I’m using OpenVINS for pose estimation and subscribing to the odometry output via rclpy in ROS 2. From what I understand, the position provided by OpenVINS is in the FLU (Forward-Left-Up) coordinate frame. When publishing this data to /f…

Hi, I am trying to do the same thing. Which topic are you using from Open VINS to publish to PX4?

The topic I am currently using is /ov_msckf/odomim.

Did you use a monocular camera or stereo camera? I am facing this issue https://github.com/rpng/open_vins/issues/511

@james88385542 were you able to solve this? please help, facing the same issue now

@avianb Currently, I’m using the RealSense D455 with a stereo setup, and like @ssghunterlineage mentioned, I would also recommend using stereo for VIO. Regarding the issue you’re facing, I haven’t encountered similar problems myself since I’m not using a monocular setup. However, I would suggest sh…

[image] james88385542: Regarding the issue you’re facing, I haven’t encountered similar problems myself since I’m not using a monocular setup. However, I would suggest sharing your configuration file for better debugging. Also, it’s important to perform camera calibration using tools like Kalibr …

Sorry about the confusion. Initially, I checked this based on the PX4 documentation. However, I later realized that the Odometry data displayed is actually a result of sensor fusion performed by EKF2, which can integrate data from IMU, barometer, or LiDAR—even if VIO data is not being published to /…

[image] james88385542: Odometry data displayed is actually a result of sensor fusion performed by EKF2, which can integrate data from IMU, barometer, or LiDAR—even if VIO data is not being published to /fmu/in/vehicle_visual_odometry. Agreed! [image] james88385542: you could try switchin…

[image] ssghunterlineage: How do I send the commands, would this be through publishing on the topic /fmu/in/vehicle_trajectory_waypoint? Is this the correct way to send simple commands in the offboard mode, say I want it to takeoff and move forward 5 meters? For my implementation, I referred …

Publishing VIO Data to /fmu/in/vehicle_visual_odometry in ROS 2 (Python)

ROS 1 / ROS 2

ssghunterlineage July 15, 2025, 5:37am 6

I believe Open-VINS needs stereo camera and the performance with monocular isn’t very good. I recommend using VINS-MONO or VINS-FUSION with RGB monocular stream if you want to use monocular

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Publishing VIO Data to /fmu/in/vehicle_visual_odometry in ROS 2 (Python)

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