Testing new odometry pipeline in gazebo SITL


Hey, I am trying to test new odometry pipeline introduced in master branch. @TSC21 mentioned that there’s a CMake option introduced by this PR: https://github.com/PX4/sitl_gazebo/pull/236

I have set
option(SEND_ODOMETRY_DATA “Send Mavlink ODOMETRY msgs” OFF)
to on:
option(SEND_ODOMETRY_DATA “Send Mavlink ODOMETRY msgs” ON)
in CMakeLists.txt and run make px4_sitl gazebo_iris_vision in which I change the MAV_ODOM_LP to true.

After restarting the simulation I cannot find an odometry message listed in MAVLink inspector. What’s wrong in my setup?


Ok, I had some problems with CMake and had to clean everything. After this and after building a QGroundControl with updated MAVLink lib it worked. Sorry for the trouble :slight_smile: