# Using PX4 Avoidance with unsupported camera

Source: https://forum.modalai.com/topic/292/using-px4-avoidance-with-unsupported-camera
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2021-06-22 19:54:45 UTC by ptaylor1234
Replies: 1 · Views: 815

## ptaylor1234 · 2021-06-22 19:54:45 UTC

I am trying to run the PX4 Obstacle Avoidance nodes (linked to [here](https://docs.modalai.com/voxl-vision-px4-collision-prevention/)) on my voxl, using the voxl TOF depth sensor. On the README for the avoidance repo, it says "Both planners require a 3D point cloud of type `sensor_msgs::PointCloud2`. Any camera that can provide such data is compatible." However, I have had a really hard time (impossible time) figuring out how to configure the code to run with a different sensor. It seems like the RealSense and Occipital camera configs are hard-coded, and there's no easy way to get around that. I have tried making a node that would publish `voxl_point_cloud` topic data to the `/point_cloud topic` that PX4 uses, but it hasn't really worked. Does anyone know how to do this?

## Reply by Jetson Nano · 2023-11-30 06:25:27 UTC

@ptaylor1234 Did you get it working, I am also working on a similar one