PX4 Avoidance not generating rotations

[ccimrie]

We have been trying to get the PX4 Vision to fly autonomously in an indoor environment. We have an Optitrack system setup and are able to send commands and fly autonomously (such as flying a square through a list of waypoints via the setpoint_position/local topic). We are trying to include the PX4-Avoidance package but are finding that the drone does not 'execute' the commands when given. What I mean is that the drone will generate a setpoint_position/local message but it is not carried out by the PX4 Vision. Additionally the PX4 Vision does not generate rotation messages to face the goal and is always fixed to the direction it is currently facing (if I manually turn the drone, for example, the orientation of the messages will match this new orientation, i.e. keep it as is).

This is only occurring in the physical drone, and not in the Gazebo simulations. We are running ROS Melodic.