Requesting home position problem in ROS

Hi there, i am new to the forum. I try to replicate ROS and VIO tracking camera (in my case is the ZED camera) for non-GPS Navigation but i have a lot of problem. One of the problem is the requesting home position i use the LUA script but it doesn’t work (ardupilot/ahrs-set-origin.lua at APMrover2-stable · ArduPilot/ardupilot · GitHub) and also a mavros topic (vision_to_mavros/ at master · thien94/vision_to_mavros · GitHub).
Some one have the same issue?

Hello,i have same problem.@Sasysand Do you find any solutions??