# How to write data to vvhub_fixed_pose_input pipe

Source: https://forum.modalai.com/topic/2611/how-to-write-data-to-vvhub_fixed_pose_input-pipe
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-08-31 18:35:56 UTC by madswamp
Replies: 0 · Views: 510

## madswamp · 2023-08-31 18:35:56 UTC

Hello devs,

I have developed a new algorithm that is able to give me the XYZ and Yaw of the Sentinel drone.
I intend to use this 4dof pose as relocalization for the VIO algorithm.
The 4dof is being published as a ROS topic and the last step is to be able to publish this 4dof data to the vvhub_fixed_pose_input pipe. 
I did not find any example on how to do it in the voxl-mpa-ros, can you point me in the right direction.
Also, I noticed that in the SDK 1.0, the parameter en_fixed_frame_pipe is missing from the voxl-vision-hub.conf file, do I need to add it in order to be able to use the pipe?

Thank you