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Jaeyoung-Lim / mavros_controllers

Aggressive trajectory tracking using mavros for PX4 enabled vehicles
BSD 3-Clause "New" or "Revised" License
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question about mavros topic local_position? #234

Closed maulanaazhari closed 1 year ago

maulanaazhari commented 1 year ago
  1. why in the code you are using "local_position/pose" and "local_position/velocity_local" topics instead of "local_position/odom" topic? since the odom topic has bot pose and twist/velocity.
  2. I was trying to change the topic to the "local_position/odom" topic, it worked great in the simulator but somehow didn't work great in real hardware, if I plot the data in plotjuggler, I found that the update interval of "local_position/odom" topic was inconsistent. Is it your consideration of not using the odom topic? do you know why it happened? (green odom topic, yellow local_position topic) image
Jaeyoung-Lim commented 1 year ago

@maulanaazhari I think you can use the odom topic, if you want. I simply used the local position plugin since that was what I needed for this package.