Mavros reference frames

[patrickpoirier51]

Hello,

I want to test VINS-Fusion on an ArduPilot FCU
For this I need to feed mavros with the correct reference
I see here:
https://github.com/Zhefan-Xu/VINS-PX4/blob/main/VINS-Fusion/vins_estimator/launch/vins_stereo_d435i_px4.launch
That you make many static_transform_publisher

My question is:
How do you set the frame_id for viosion in Mavros (apm_config.yaml for ArduPilot) ?
https://github.com/mavlink/mavros/blob/indigo-devel/mavros/launch/apm_config.yaml#L131

vision_pose_estimate

vision_pose:
tf:
listen: false # enable tf listener (disable topic subscribers)
frame_id: "local_origin"
child_frame_id: "vision"
rate_limit: 10.0

Regards

[giangdao1402]

Hi @patrickpoirier51 , do you got the answer ?