local_planner not working with mavros and PX4 for collision prevention

[poripsa]

I have a camera mounted in front of the drone and when I move the drone the distance values in obstacle message move their positions in the array (72 length obstacle array published to /mavros/obstacle/send).

How do I change it to stop transforming frames to compass north?? I just want obstacle_distance to stick to body frame but the values move position in the array with compass north and this is not handled in mavros or px4 version.

When there is a obstacle in front of the camera, if the camera is pointing south these values would should up in the middle of the /mavros/obstacle/send range array hence the drone thinks there is a obstacle behind it and not in front of it.