search

mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
Other
902 stars 993 forks source link

PX4's external pose estimation differs from input pose. #1083

Closed Doodle1106 closed 6 years ago

Doodle1106 commented 6 years ago

Issue details

I am trying to use my vision pose estimate as px4's only source of pose estimation, but the pose I published to px4 and the pose I read from it are different.

I changed LPE_FUSION to 'fuse vision position' only and kept the board offboard and armed at all time. I then published the following pose to /mavros/vision_pose/pose :

geometry_msgs::PoseStamped EstimatedPose;

EstimatedPose.pose.position.x = 30;

EstimatedPose.pose.position.y = 30;

EstimatedPose.pose.position.z = 30;

but the result I got by :

rostopic echo /mavros/local_position/pose

is (0,0,0) for position.

Am I doing it right? Please shed some light here, thanks in advance.

MAVROS version and platform

Mavros: 0.18.4 ROS: Kinetic Ubuntu: 16.04

Autopilot type and version

PX4 Version: 1.8.0

Doodle1106 commented 6 years ago

Solved by adding timestamp to the published pose