Waypoint for indoor flying

[crazy-robotics]

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Issue details

I am using pixhawk 4 with companion jetson orin nano and livox mid 360 for indoor flying, SLAM, navigation and obstacle avoidance without gps for indoor flying. I am able to fly the drone in offboard mod indoor on publishing on /mavros/setpoint_position/local which is working well. now i am working on waypoint following like the drone make a square, follow a predefined trajectory etc i check the following topic of mavros supporting waypoints which are

/mavros/geofence/waypoints
/mavros/mission/waypoints
/mavros/rallypoint/waypoints

if you look into the msg type of all or /mavros/mission/waypoints

uint16 current_seq
mavros_msgs/Waypoint[] waypoints
  uint8 FRAME_GLOBAL=0
  uint8 FRAME_LOCAL_NED=1
  uint8 FRAME_MISSION=2
  uint8 FRAME_GLOBAL_REL_ALT=3
  uint8 FRAME_LOCAL_ENU=4
  uint8 FRAME_GLOBAL_INT=5
  uint8 FRAME_GLOBAL_RELATIVE_ALT_INT=6
  uint8 FRAME_LOCAL_OFFSET_NED=7
  uint8 FRAME_BODY_NED=8
  uint8 FRAME_BODY_OFFSET_NED=9
  uint8 FRAME_GLOBAL_TERRAIN_ALT=10
  uint8 FRAME_GLOBAL_TERRAIN_ALT_INT=11
  uint8 FRAME_BODY_FRD=12
  uint8 FRAME_RESERVED_13=13
  uint8 FRAME_RESERVED_14=14
  uint8 FRAME_RESERVED_15=15
  uint8 FRAME_RESERVED_16=16
  uint8 FRAME_RESERVED_17=17
  uint8 FRAME_RESERVED_18=18
  uint8 FRAME_RESERVED_19=19
  uint8 FRAME_LOCAL_FRD=20
  uint8 FRAME_LOCAL_FLU=21
  uint8 frame
  uint16 command
  bool is_current
  bool autocontinue
  float32 param1
  float32 param2
  float32 param3
  float32 param4
  float64 x_lat
  float64 y_long
  float64 z_alt

float64 x_lat float64 y_long which i dont have. how i make my drone Waypoint following

MAVROS version and platform

Mavros: 1.20.0 (install by sudo apt install ros-noetic-mavros*)
ROS: noetic
Ubuntu: 20.04

Autopilot type and version

PX4

Version: 1.5

[thanhkaist]

@crazy-robotics It's impressive that you've successfully set up SLAM with the Livox Mid 360 working seamlessly! I'm currently working on a similar setup, though I'm not quite at your level yet. While my question may not directly answer yours, I hope we can collaborate and figure this out together.

Could you kindly share the detailed steps to make the EKF effectively utilize SLAM data?

Specifically, could you provide information on:

Which topics need to be published?
What parameters need to be configured?
How to properly set the origin?

From what I understand, SLAM typically outputs relative positions (e.g., from /odom to /base_link). Is this information sufficient for the EKF, or are additional inputs required?

Your insights would be incredibly helpful, and I'd love to stay in touch to exchange ideas and tackle challenges together until we complete this task.

[crazy-robotics]

Sure, DM