How can I get fixed pose via QGC or ROS

[張為超]

Hi, Recently I am trying to use voxl-tag-detector to update pose in indoor environment.

When I check pose by using voxl-inspect-pose -f I can get the fixed pose correctly, but if I use roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch and check rostopic /qvio/pose, I can only get local pose ,same as QGC and mavros.

So I did a little research and I found out this topic: How can I see the apriltag offset in ROS. It shows that fixed frame is going to be published in the upcoming version.

According this, I wonder now if there is any way to use ROS or QGC to get fixed pose? Or I have to create my own node to publish fixed pose data? My current system image is 3.6 with voxl-suit 0.5.0. Thanks.

[張為超]

Trying to follow up this question:
When I use apriltag to fix pose, Can I get fixed pose topic by using voxl_mpa_to_ros ? Thanks