Latest updates. I managed to build a simulation in Gazebo in GPS denied used the material in the blog Integration of ArduPilot and VIO tracking camera as reference. As external source of pose I used a sdf model of the t265 at which i attached the p3d plugin to generate the pose message as odometry, since I did not find anything else similar. Then I passed that message to a simple node that transform the structure in PoseStamped and bradcast the t265 pose. Configuring the parameter list mentioned above, all works properly and it is possible to command the drone through mavros. The last point I left uncovered is the allignment of the camera body to the ENU world frame Y axis of ROS
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