Custom Odometry

[lidiaxp]

Hi, I am working with the MRS system and want to use a custom odometry source as the primary odometry method within the system (/estimation_manager/odom_main). I have a Python script that retrieves data from the drone and generates an odom message, but I am unsure how to properly integrate this into the MRS system. How can I publish my custom odom message to the /estimation_manager/odom_main topic so that it is recognized as the main odometry source?

Any guidance or examples would be greatly appreciated. Thank you.