ZED mini for offboard mode

PX4 Autopilot
1

Hello dear community.
I am facing an issue and I hope you guys can help me.
-Pixhawk with PX4 firmware
-ROS Melodic
-Jetson Nano
-ZED mini camera

Auterion company provides a ROS launch that bridge mavlink and mavros for T265 camera frame.
I have been using the T265 to do offboard control but the camera is broken so I have to change to the ZED mini. Using the T265 the camera was publishing to /mavros/odometry/out and /mavros/compannion_process/status

There is no too much info about using ZED mini with PX4 so I have implement a code base on one research paper. This code subscribe from zedm/zed_node/odom and publish under mavros/vision_pose/pose

I have two general questions

  1. What is the difference between mavros/vision_pose/pose and /mavros/odometry/out

  2. How the transformations are handle with zed since the zed camera is located 10 cm in front of the pixhawk? or how the NED and ENU will be converted?

Thank you so much
Here is my code

import rospy
import mavros
from nav_msgs.msg import Odometry
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import PoseWithCovarianceStamped


mavros.set_namespace()


def zed_convertion(msg):
	pose = PoseStamped()
	pose_cov = PoseWithCovarianceStamped()
	# Pose with covariance
	pose_cov.header = msg.header
	pose_cov.pose = msg.pose  

	# Pose without covariance
	pose.header = msg.header
	pose.pose = msg.pose.pose

	rospy.loginfo(pose)
	pose_pub.publish(pose)
	pose_cov_pub.publish(pose_cov)
		

def main_converter():
	rospy.init_node('zed_pose_converter', anonymous=True)
	rospy.Subscriber("/zedm/zed_node/odom", Odometry, zed_convertion)
	
	rate = rospy.Rate(10)  # 10hz
	while not rospy.is_shutdown():
		
		
		rate.sleep()


if __name__ == '__main__':
    try:
    	pose_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=10)
    	pose_cov_pub = rospy.Publisher('/mavros/vision_pose/pose_cov', PoseWithCovarianceStamped, queue_size=10)
    	main_converter()
    except rospy.ROSInterruptException:
        pass