how to send reset_counter through mavros odometry

[shubham-shahh]

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Issue details

Hi, I am willing to send SLAM odometry to FCU through /mavros/odometry/out topic, since it is of type <nav_msgs::Odometry> I am unable to send the resent counter which is part of the odometry mavlink message definition as mentioned here. how can I send the reset counter

MAVROS version and platform

Mavros: 1.13.0 ROS: Melodic Ubuntu: 18.04

Autopilot type and version

[X] ArduPilot [ ] PX4

Version: 4.1.5

thanks

[vooon]

I'm afraid that's not possible to achieve with nav_msgs directly. But possible to define new message with additional fields, then use message filters to have synchronised call to out.

https://github.com/ros2/message_filters

[shubham-shahh]

I'm afraid that's not possible to achieve with nav_msgs directly. But possible to define new message with additional fields, then use message filters to have synchronised call to out.

https://github.com/ros2/message_filters

thanks for the response, I am currently using ROS1, I was wondering if, we can add reset count in string child_frame_id field if it is not used further for transformations?

[vooon]

Message filters do exist in ROS1 as well.

I do not recommend to change frame ids, as it potentially may violate expectations of other components.

[shubham-shahh]

Message filters do exist in ROS1 as well.

I do not recommend to change frame ids, as it potentially may violate expectations of other components.

yes, I misunderstood that part, I later realized it. and yes it makes sense, I will try the way you mentioned

thanks

[shubham-shahh]

I was wondering, how can I set/check source system id for a mavros instance running on on board computer

[vooon]

https://github.com/mavlink/mavros/blob/master/mavros/src/lib/mavros.cpp#L58