# How can I get fixed pose via QGC or ROS

Source: https://forum.modalai.com/topic/964/how-can-i-get-fixed-pose-via-qgc-or-ros
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-05-27 10:07:25 UTC by 張為超
Replies: 1 · Views: 582

## 張為超 · 2022-05-27 10:07:25 UTC

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](https://forum.modalai.com/topic/239/how-can-i-see-the-apriltag-offset-in-ros?_=1653387401693). 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.

## Reply by 張為超 · 2022-06-06 08:40:52 UTC

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