Challenges with Drone Pose Data in MAVROS

[SMRazaRizvi]

Greetings,

I'm currently in the process of utilizing MAVROS to enable autonomous control of my Sentinel drone in OFFBOARD mode. This involves providing target coordinates in the local position coordinate system for the drone to navigate to, all while utilizing MAVROS.

To achieve this, my initial step is to access the drone's current pose, which is published on the /mavros/local_position/pose ROS topic. Subsequently, I intend to publish the desired target pose to the /mavros/setpoint_position/local ROS topic.

However, I've encountered an issue with the data received on the /mavros/local_position/pose topic. While it exhibits a pattern when the drone is in motion, the position fields revert to zero when the drone comes to a halt. It almost appears as if it's replicating the acceleration values from the IMU. Interestingly, the orientation values appear to be correct as they are directly taken from the IMU.

I've also tried to integrate an external Vision pose system (specifically ORB SLAM2) and published this vision pose to the /mavros/vision_pose/pose topic, to which MAVROS is subscribed to. Unfortunately, this addition hasn't led to any significant changes.

I've also made adjustments to the parameters within PX4, as detailed in this parameter file, yet the issue persists.

I'm currently at a juncture where I'm uncertain about the next steps for resolution.

Any assistance or guidance you could provide would be greatly appreciated.

[SMRazaRizvi]

@Moderator @modaltb