Replacing the VIO pose message with the MoCap pose message



  • Hello,

    I intend on replacing the VIO pose message with the pose message from MoCap. Currently, I am using the mavros node to publish the MoCap pose message to the vehicle_vision_pose message. But as the VIO is also writing to the same message, ODOMETRY alternates between the two messages (one from the VIO and the other from the MoCap).

    Is there a way to configure the replacement? From the configurations I have tried, ODOM does only give the MoCap pose message (when MAV_ODOM_LP is set) but then the local_position_ned message gives a 0 as its x and y coordinates, like when the VIO is disabled.


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