# qvio ros2 topics

Source: https://forum.modalai.com/topic/3194/qvio-ros2-topics
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2024-03-11 09:53:56 UTC by jacob yaacubov
Replies: 1 · Views: 587

## jacob yaacubov · 2024-03-11 09:53:56 UTC

Hi, i would appreciate some clarification from dev team or others using qvio with ros topics 

i have installed voxl-mpa-to-ros2  and noticed that the /qvio topic publish 2 different messages  - one is PoseStamped interface the other odometry -  i guess each hold same data and one message is just more extended than the other?

## Reply by Zachary Lowell 0 · 2024-03-11 16:45:00 UTC

Yes you can look at it that way. Pose is just the generic positional data inclusive of the quaternion and imu wrt vio/camera - odometry is that as well as things like the twist or better known as velocity wrt to the vio instance/camera and the angular velocity wrt to the vio/camera.

Let me know if this better helps you understand - all the code is open sourced btw so feel free to take a gander for a programatic understanding:

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/master/colcon_ws/src/voxl_mpa_to_ros2/src/interfaces/qvio_interface.cpp?ref_type=heads#L113