When I spawn Iris using mavros_posix_sitl at some pose (x,y,z), the reference local frame would be that pose too right? Is it possible to spawn the drone at some pose (x,y,z) but the reference local frame is at the gazebo origin (0,0,0) ? So when I read the local_position/pose it will read (x,y,z) instead of (0,0,0)
Have you found a solution to this? I have the same doubt.