I am using Rover-3.2.0-rc3 on an Aion rover with an attached stereo camera. I am also running SLAM on an onboard processor, and feeding the estimated visual pose to mavros via the ROS topic “/mavros/vision_pose/pose”. I have instrumented the mavros code, so I am certain that these pose estimates are being received, and the appropriate MAVLink message (VISION_POSITION_ESTIMATE) is being sent. However, this message does not appear in QGroundControl’s MAVLink inspector, and the expected “/mavros/local_position/pose” topic is not being published.
I have successfully done this on a different platform using PX4, so the issue must be in APM or my use of it. Has anyone successfully used external vision-based pose estimates with Rover?
EDIT: I have also implemented a Python program, using pymavlink, to listen to all MAVLINK messages, and the VISION_POSITION_ESTIMATE messages do not show up there, either. So it is not a QGroundControl problem.