ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    Fixed frame pose MPA to ROS

    Ask your questions right here!
    1
    1
    178
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • J
      jay.miller
      last edited by

      This is essentially bumping Apriltag landing fixed frame ROS interface, How can I see the apriltag offset in ROS, and How can I get fixed pose via qgc or ros topics.

      I can perform apriltag relocalization and see that it is working correctly via voxl-vision-px4 -p or other voxl means, but both /mavros/local_position/pose and /qvio/pose report position in local frame. I understand that I can issue commands in fixed frame to then be corrected by mavros en route the PX4, but this is only useful in ROS/QGC if my fixed and local frames are roughly equivalent (so using relocalization to correct for drift, but not to initialize position).

      Thanks!

      For reference, my platform is an m500 with VOXL1:
      Firmware: 1.13.2, Custom Fw. Ver. 0.1.1
      system-image: 4.0.0
      kernel: #1 (closed) SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
      hw version: VOXL
      voxl-suite: 0.9.4

      and my parameter file is:

      MAVLINK IO
      qgc_udp_port_number: 14550
      udp_mtu: 512
      en_localhost_mavlink_udp 1
      localhost_udp_port_number: 14551
      VIO
      en_vio: 1
      vio_pipe: qvio
      en_send_vio_to_qgc: 0
      en_reset_vio_if_initialized_inverted: 1
      vio_warmup_s: 3.000000
      send_odom_while_failed: 0
      APQ8096-ONLY FEATURES
      en_set_clock_from_gps: 1
      en_force_onboard_mav1_mode: 1
      en_reset_px4_on_error: 1
      MISC FEATURES
      horizon_cal_tolerance: 0.500000
      OFFBOARD MODE
      offboard_mode: off
      follow_tag_id: 0
      figure_eight_move_home: 1
      robot_radius: 0.300000
      collision_sampling_dt: 0.100000
      max_lookahead_distance: 1.000000
      FIXED FRAME RELOCALIZATION
      en_tag_fixed_frame: 1
      fixed_frame_filter_len: 5
      en_transform_mavlink_pos_setpoints_from_fixed_frame:1

      1 Reply Last reply Reply Quote 2
      • First post
        Last post
      Powered by NodeBB | Contributors