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fix: now publishes z=0 to odom in DroneConnectionModule for 2D navigation stack #2381

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fix: now publishes z=0 to odom in DroneConnectionModule for 2D navigation stack #2381

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df38970
fix: now publishes z=0 to odom in DroneConnectionModule for 2D naviga…
knikou01 Jun 6, 2026
1cb434d
fix: store z=0 in _odom for consistency with odom stream
knikou01 Jun 6, 2026
0087841
Merge branch 'main' into fix/drone-odom-z-axis-2d-navigation
knikou01 Jun 6, 2026
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19 changes: 12 additions & 7 deletions dimos/robot/drone/connection_module.py
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Original file line number Diff line number Diff line change
Expand Up @@ -172,12 +172,17 @@ def _store_and_publish_frame(self, frame: Image) -> None:

def _publish_tf(self, msg: PoseStamped) -> None:
"""Publish odometry and TF transforms."""
self._odom = msg
self._odom = PoseStamped(
position=Vector3(msg.position.x, msg.position.y, 0.0),
orientation=msg.orientation,
frame_id=msg.frame_id,
ts=msg.ts,
)

# Publish odometry
self.odom.publish(msg)
nav_msg = self._odom
self.odom.publish(nav_msg)

# Publish base_link transform
# Keep real z for TF so Rerun draws the drone at correct altitude
base_link = Transform(
translation=msg.position,
rotation=msg.orientation,
Expand All @@ -187,10 +192,10 @@ def _publish_tf(self, msg: PoseStamped) -> None:
)
self.tf.publish(base_link)

# Publish camera_link transform (camera mounted on front of drone, no gimbal factored in yet)
# Camera mounted on front of drone, no gimbal factored in yet
camera_link = Transform(
translation=Vector3(0.1, 0.0, -0.05), # 10cm forward, 5cm down
rotation=Quaternion(0.0, 0.0, 0.0, 1.0), # No rotation relative to base
translation=Vector3(0.1, 0.0, -0.05),
rotation=Quaternion(0.0, 0.0, 0.0, 1.0),
frame_id="base_link",
child_frame_id="camera_link",
ts=time.time(),
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