vision_pose

• File: mavros_extras/src/plugins/vision_pose_estimate.cpp
• Class: mavros::extra_plugins::VisionPoseEstimatePlugin
• Namespace: mavros::extra_plugins
• Brief: Vision pose estimate plugin

Send pose estimation from various vision estimators to FCU position and attitude estimators.

Publishers

• None

Subscribers

• ~/pose [type: geometry_msgs::msg::PoseStamped, qos: QoS(10)] - Subscribe to vision pose as PoseStamped.
• ~/pose_cov [type: geometry_msgs::msg::PoseWithCovarianceStamped, qos: QoS(10)] - Subscribe to vision pose with covariance as PoseWithCovarianceStamped.

Services

• None

Clients

• None

Parameters

• tf/listen [type: bool, default: false] - tf params Listen to vision pose from TF (else subscribe to ~/pose).
• tf/frame_id [type: string, default: "map"] - TF frame id for vision pose source.
• tf/child_frame_id [type: string, default: "vision_estimate"] - TF child frame id for vision pose source.
• tf/rate_limit [type: double, default: 10.0] - Vision pose send rate limit [Hz].

MAVLink Subscriptions

• None

MAVLink Publications

• VISION_POSITION_ESTIMATE [arg: msg, dialect: common, msg_id: 102, id: mavlink::common::msg::VISION_POSITION_ESTIMATE::MSG_ID]