Hello Pixhawk Community,
I am asking for some advice on integrating an external vision position estimation with PX4 (on a pixhawk 2) via MavROS on behalf of our company, Airlitix. We have several questions about the integration, and proper channels for debugging.
1.) We currently generate a position estimation as a ROS PoseStamped message, broadcast to the “/mavros/vision_pose/pose” topic (since we lack covariance information). By what I’ve found, this is right, but is this a channel that will get information to the PX4 appropriately?
2.) What is the best standard practice for checking whether vision data is reaching the Pixhawk? Can we see the data the pixhawk gets?
3.) What is the best practice for ensuring the vision pose is being fused into the estimator appropriately? Which estimator works best for fusing vision data?
4.) Our application requires flying in a compass- and GPS-denied environment. Is there a way to use orientation information from vision estimation as a global frame direction? In other words, can we completely replace the compass direction with our vision’s direction estimation?
5.) In the case that the above points can’t be addressed simply, and require changes to the firmware, what files in the firmware file structure are primarily involved with reading and utilizing an external vision estimation?
Thank you in advance for your help.