Visual Odometry from VICON not reflected in /fmu/out/vehicle_local_position despite EKF2 settings and topic publication

YHuniv15 · March 24, 2025, 8:59pm

Hi,

I posted the issue in this link in px4_ros_com, maybe I can find help in this disscussion.

Visual Odometry from VICON not reflected in /fmu/out/vehicle_local_position despite EKF2 settings and topic publication

opened 04:05PM - 24 Mar 25 UTC

Hello, I did : https://docs.px4.io/main/en/ros2/user_guide.html#install-px4 fo…r **Rapi4_Pixhawk 6x** Ethernet connexion , the communication seems to works well and topics are published. I'm currently working on integrating a VICON motion capture system with PX4 . I'm trying to use the visual odometry data as the primary source of **localization indoors.** ✅ What I did: Parameter Configuration (via QGroundControl): EKF2_EV_CTRL = 11 → (Horizontal position, vertical position, yaw). EKF2_HGT_REF = vision. EKF2_MAG_TYPE = none. EKF2_EV_DELAY = 10 Data publishing: I wrote a Python script that publishes data to the PX4 topic /fmu/in/vehicle_visual_odometry. Confirmed via ros2 topic echo that the topic is being updated correctly. ❌ Issue: Despite all this, I do not receive any updates on /fmu/out/vehicle_local_position. It's either not being published at all, or not fusing the data from VICON. Additionally, the initial position of the drone, as reported by the VICON system, is **(0, 0, 0.2)** in the **VICON frame**. When running: `ros2 run px4_ros_com offboard_control` the drone does not take off correctly — only three motors spin. For reference, the drone is physically aligned with the VICON frame, especially the X-axis. Any help on how to make it working ? Thanks

Thank you for your support