No VISION_POSITION_ESTIMATE messages displayed on the Mavlink Inspector

I have tried to follow the tutorial of Cartographer SLAM for Non-GPS Navigation on Cartographer SLAM for Non-GPS Navigation — Dev documentation. However, there are no VISION_POSITION_ESTIMATE

If someone know the reasons and methods to solve it? I would be very thankful!

Edit apm_pluginlists.yaml, add “vision_position_estimate” below plugin_whitelist, which is not mentioned in the official tutorial.
2022-12-07 21-15-48屏幕截图

Please do not use ArduRover 3.0

Update to ArduRover 4.2.3 and use the latest mavros version.