Using another external Visual System for Localization



  • Hello,

    I have a VOXL m500 and I was trying to use an external visual system (i.e. mocap) for localization running with MAVROS.

    Problem

    In MAVROS, I can see the raw data of the sensor, but PX4 seems to not receive the data from it, (local_position_NED is 0).

    Steps to reproduce

    1. I disabled VIO by setting en_vio to false in the file /etc/modalai/voxl-vision-px4.conf.
    2. Spin up a node for the external visual system that publishes to vision/pose_cov
    3. Run MAVROS
    4. rostopic echo vision/pose_cov gets the correct data from the localization sensor
    5. In QGroundControl local_position_ned is 0, not getting any data from the external visual localization system

    Expected Behavior

    QGroundControl is receiving the data from the external visual localization system.

    Do you know how can I successfully integrate a visual system for localization in the VOXL?
    Thank you in advance