No output on mavros/global_position/pose topic even after publishing mocap data using mocap_pose_estimate

asked 2016-07-13 16:49:00 -0500

automate gravatar image

updated 2016-07-13 16:57:04 -0500

I publish mocap data from Optitrack software to mavros/mocap/pose and tf data on mavros/mocap/tf as per documentation. Running px4.launch I see FCU: [inav] Mocap data valid msg. However I mavros/global_position/global topic does not publish anything. The local_position topic publishes nothing. As a result of that I cannot switch to auto_takeoff mode which I guess requires some source publishing global position data.

Any idea what I am missing?

I though global position data will only be published after I arm the uav. So I armed in altitude control mode. but it doesnt work. Do I need to be in off_board mode always?

I have tried publishing mocap data to /mocap/pose, /mocap/tf, mavros/vision_pose/pose but it doesnt work.

I also get no gps_fix warning. Is that an issue? If yes then how do i disable it.

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Hi @automate, Did you manage to use the /mocap/pose topic? I also have the same problem as you described. I receive GPS 3d fix with geo location of (0,0)

JustFineD gravatar image JustFineD  ( 2017-11-12 13:13:16 -0500 )edit