About drone's local position

[HanXiao485]

Can I get the drone's local position such as (x,y,z)?

[monemati]

@HanXiao485 Hello. Yes you can do it by subscribing to /fmu/out/vehicle_local_position, you can do something like this in your codebase:

# Imports
import rclpy
from px4_msgs.msg import VehicleLocalPosition

# Subscribe (you can put this in your drone class)
self.vehicle_local_position_subscriber = self.create_subscription(
      VehicleLocalPosition, '/fmu/out/vehicle_local_position', self.vehicle_local_position_callback, qos_profile)
self.vehicle_local_position = VehicleLocalPosition()

# Callback
def vehicle_local_position_callback(self, vehicle_local_position):
    """Callback function for vehicle_local_position topic subscriber."""
    self.vehicle_local_position = vehicle_local_position
    print(vehicle_local_position.x)
    print(vehicle_local_position.y)
    print(vehicle_local_position.z)