{"action":"created","issue":{"url":"https://api.github.com/repos/mavlink/mavros/issues/349","labels_url":"https://api.github.com/repos/mavlink/mavros/issues/349/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/mavros/issues/349/comments","events_url":"https://api.github.com/repos/mavlink/mavros/issues/349/events","html_url":"https://github.com/mavlink/mavros/issues/349","id":97334496,"number":349,"title":"Position not getting locked using vision pose in mavros","user":{"login":"mmsarode","id":12666884,"avatar_url":"https://avatars.githubusercontent.com/u/12666884?v=3","gravatar_id":"","url":"https://api.github.com/users/mmsarode","html_url":"https://github.com/mmsarode","followers_url":"https://api.github.com/users/mmsarode/followers","following_url":"https://api.github.com/users/mmsarode/following{/other_user}","gists_url":"https://api.github.com/users/mmsarode/gists{/gist_id}","starred_url":"https://api.github.com/users/mmsarode/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mmsarode/subscriptions","organizations_url":"https://api.github.com/users/mmsarode/orgs","repos_url":"https://api.github.com/users/mmsarode/repos","events_url":"https://api.github.com/users/mmsarode/events{/privacy}","received_events_url":"https://api.github.com/users/mmsarode/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-07-26T17:08:38Z","updated_at":"2015-07-26T18:00:21Z","closed_at":"2015-07-26T17:38:16Z","body":"*I am trying to use motion capture data by qualysis system for position estimate of the PX4 in hexacopter.\r\n   1. Run mavros\r\n   2. Push motion capture data to mavros/vision_pose/pose using a publisher (there is a message saying \"VISION estimate valid\" when I run the publisher.\r\n    However, in the mavros terminal I keep getting the message after some time \"GPS: no Fix message\".\r\nThere is no solid green color (expected in case of position lock) on PX4 main LED. When I echo to vision_pose/pose and local_position/local in mavros, I get the correct motion capture data (x, y, z) which means that it should lock position. Am I missing something?\r\n\r\n\r\nHere is the screenshot of mavros terminal messages-\r\n![mavros](https://cloud.githubusercontent.com/assets/12666884/8894897/237a1ab6-3395-11e5-8326-bf3405b293aa.png)\r\n\r\n* What should be the fame_ID for the vision_pose/pose topic? I wrote the following code which publishes motion capture data to pose topic. Is there anything wrong that I am doing?\r\nCODE for publisher-\r\n\r\n#include \"ros/ros.h\"   \r\n#include \"std_msgs/String.h\"  \r\n#include \"stdio.h\"                   \r\n#include \"geometry_msgs/PoseStamped.h\"\r\n#include \"geometry_msgs/Vector3Stamped.h\"\r\n#include \"/home/mahesh/catkin_ws/src/beginner_tutorials/src/Qualisys.h\"\r\n\r\nint main(int argc, char **argv)\r\n{\r\n   ros::init(argc, argv, \"data_to_vision_3\");\r\n   ros::NodeHandle n;\r\n\r\n   ros::Publisher chatter_pub = n.advertise<geometry_msgs::PoseStamped>(\"/mavros/vision_pose/pose\",100);\r\n   ros::Rate loop_rate(10);\r\n\r\n   geometry_msgs::PoseStamped msg;\r\n   int count = 1;\r\n   \t\r\n   PositionReciever qp;\r\n   Body some_object;\r\n   qp.connect_to_server();\r\n \r\n \t   while(ros::ok()){\r\n\t   some_object = qp.getStatus();\r\n\t\t// some_object.print();\r\n\t\tprintf(\"%f\\n\",some_object.position_x);\r\n       msg.header.stamp = ros::Time::now();\r\n       msg.header.seq=count;\r\n       msg.header.frame_id = 1;\r\n       msg.pose.position.x = 0.001*some_object.position_x;\r\n       msg.pose.position.y = 0.001*some_object.position_y;\r\n       msg.pose.position.z = 0.001*some_object.position_z;\r\n       msg.pose.orientation.x = 0.1;\r\n       msg.pose.orientation.y = 0.2;\r\n       msg.pose.orientation.z = 0.3;\r\n       msg.pose.orientation.w = 0.4;\r\n\r\n       chatter_pub.publish(msg);\r\n       ros::spinOnce();\r\n       count++;\r\n       loop_rate.sleep();\r\n   }\r\n       \r\n   return 0;\r\n}\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/mavlink/mavros/issues/comments/125023294","html_url":"https://github.com/mavlink/mavros/issues/349#issuecomment-125023294","issue_url":"https://api.github.com/repos/mavlink/mavros/issues/349","id":125023294,"user":{"login":"TSC21","id":5048656,"avatar_url":"https://avatars.githubusercontent.com/u/5048656?v=3","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"created_at":"2015-07-26T18:00:21Z","updated_at":"2015-07-26T18:00:21Z","body":"`frame_id` doesn't make any difference, since only the stamp matters."}}