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Configure frame IDs for mavros local_position/odom

asked 2017-02-12 19:20:39 -0500

janindu gravatar image

Hi,

I have a system of 4 UAVs with 4 pixhawks and 4 on-board computers. A ground station is controlling the ROS master. I have a problem managing UAV poses. Mavros publishes local_position/odom with child frame ID 'base_link'. Since I have 4 UAVs operating in the same ROS space, this is a problem.

I looked through the documents but did not see how to set a parameter for child frame ID. Is there such parameter that I have missed? If there isn't then running a node which listens to the topics (topics are namespaced with /uav1, /uav2 etc) and republish to a new topic with new frame IDs (naive, I know) the best way to approach this?

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answered 2017-02-14 11:43:56 -0500

vooon gravatar image

Did you read http://wiki.ros.org/mavros#mavros.2BA... ?

You need modified config.yaml for each drone node.

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I'm not familiar with yaml files can you explain how little further? is changing parameter through launch file to frame_id whatever I want is ok?

Doolly gravatar image Doolly  ( 2017-08-16 20:16:01 -0500 )edit

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Asked: 2017-02-12 19:20:39 -0500

Seen: 832 times

Last updated: Feb 14 '17