Use lidar for localization instead of Qvio
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About using another state estimation source, we would like to replace the onboard qvio with some lidar based odometry for localization and position hold purpose. Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else?
Please advise! -
@Muqing-Cao Yes, definitely. The applications are auto started using systemd services and can be stopped / disabled using standard commands as desired.
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@Eric-Katzfey Thanks for your reply. Can we have more details about the interface we could use to feed position estimate?
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@Muqing-Cao Just the standard Mavlink ODOMETRY message is what we have used. Not exactly sure how that translates into ROS land. But it isn't anything ModalAI specific.
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@Eric-Katzfey Thank you. Could you lead me to the part of the code that sends the odometry mavlink msg in voxl sdk? That would be very helpful.
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