dzywater

@nikola-j Based on your changes, I think that the original version can meet your request unless you want both enu_odom and ned_odom at the same time. The enu and ned...

> It doesn't make sense to have a topic called `odom_local_ned` and publish a message in ENU frame on it. Without this change, the simple PD position controller won't work....

1. pd_position_controller_simple should be enhanced, because it uses "odom_local_ned" directly, not considering ENU system. 2. Simply, You can set world_frame_id=world_ned(default, no need to do actually) and coordinate_system_enu=true, then the data...

1.It is not reasonable to modify airsim_ros_wrapper, because this goes against the airsim_ros framework. You only see odom, not many other topics/services/TFs. 2.You should check why it does not work....

> 2. I have no idea why it wouldn't work for me, do you give it a goal in ENU or NED coordinates for it to work? And the only...

> 7\. local_position_goal Checked pd_position_controller_simple.cpp, I guess that PIDPositionController only supports NED mode.

see #4340

> @dzywater. If you specify a sensor, its defaults are overwritten by AirSim defaults. You will need to set all the parameters " You will need to set all the...

For a sensor like SensorType=6 lidar, for most situations with several lidars with same hardware params, hardware params are expected to be configured in "DefaultSensors" region and pose in "Vehicles"...

@nikola-j I don't know what you mean. I tested ros2 package many times for enu and ned. I didn't find any problems. I couldn't understand what your pr #4631 do....