Avoidance with gazebo plane

[ElizaBatool]

I am trying to use PX4 avoidance for a fixed wing plane. For this, i added a new vehicle in gazebo based on the plane and added a depth camera to it. I modified the launch file to use the new vehicle. I am able to run the simulation (local planner with depth camera) but I'm unable to understand the flow of messages containing information about the mission waypoints from PX4 to the ROS node for this case.

For the case of iris, PX4 publishes vehicle_trajectory_waypoint_desired which is subscribed over the mavros message mavros/trajectory/desired. For the case of fixed wing vehicle, vehicle_trajectory_waypoint_desired is not published and hence local planner node does not receive mavros/trajectory/desired. How does the local planner calculate the waypoints then and send mavros/trajectory/generated?

[luocfprime]

Have you fixed this? Because I've encountered a similar ploblem.