Hi all,

I am trying to do 3D navigation using a quadrotor and moveit, using mavros as an interface. I am using hectorquadrotorurdf as my robot description for MoveIt. I just had a couple of questions about the whole ROS pipeline, it would be great if someone can provide a few inputs.

1. I have a fixed frame called /world to which /baselink is attached (floating). The mavros messages are under the fixed frame /fcu. Would publishing a tf between /baselink and /fcu suffice to introduce this data (IMU etc.) into /world?

2. If I use hectorquadrotor in simulation, the robot position is published through gazebo ground truth data. With the real MAV, mavros returns a sensormsgs/IMU and a geometry_msgs/PoseStamped message that deal with the robot position. Is there a good way of integrating this into moveit? Because for now, the robot always faces forward and the occupancy map is updated only directly in front of the robot wherever it is moved.

Thank you,

Sai