Software Development

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VOXL SDK

General questions regarding the VOXL SDK that do not fit into other categories

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@Moderator Thanks for the response. Follow up question, are the voxl-side timesync requests only used for updating gps timestamps?

After reading the code you linked and running mavlink-server in timesync debug mode I think that the only thing not working is the voxl timesync requests. It looks like when I start sending hil_gps or odometry mavlink messages to the autopilot pipe, one of the autopilot's responses to the voxl timesync requests is dropped or comes in after a new value for last_voxl_time_sent is generated. Then the timesync handler can't recover because it's getting responses that are 1 step behind moving forward (see below).

Since it looks like it continues to get reasonable values for now-ts1 for the autopilot requests, I don't think this is an issue depending on what voxl-side timesync is being used for. Not sure why I'm getting the RTT too high warning in my PX4 log though

output from mavlink server timesync debug mode at the point when I started sending odom/gps mavlink messages to the autopilot:
sending our own ts request at 408744677609 ap ms ahead of voxl: -0.2ms timesync: now-ts1 = 0.6ms sending our own ts request at 408845331615 ap ms ahead of voxl: -0.3ms timesync: now-ts1 = 0.9ms sending our own ts request at 408945169337 timesync: now-ts1 = 0.2ms sending our own ts request at 409044439310 timesync: now-ts1 = 0.3ms sending our own ts request at **409145346227** timesync: now-ts1 = 0.5ms sending our own ts request at **409244599326** unknown timesync request ts1 = **409145346227** tc1 = 409263819000 last_voxl_time_sent = 409244599326 timesync: now-ts1 = 0.3ms sending our own ts request at 409345147918 unknown timesync request ts1 = **409244599326** tc1 = 409406867000 last_voxl_time_sent = 409345147918 timesync: now-ts1 = 0.2ms sending our own ts request at 409445248290 unknown timesync request ts1 = 409345147918 tc1 = 409506047000 last_voxl_time_sent = 409445248290 timesync: now-ts1 = 0.2ms sending our own ts request at 409545084726 unknown timesync request ts1 = 409445248290 tc1 = 409608198000 last_voxl_time_sent = 409545084726 timesync: now-ts1 = 0.4ms sending our own ts request at 409645091472 unknown timesync request ts1 = 409545084726 tc1 = 409717154000 last_voxl_time_sent = 409645091472
GPS-denied Navigation (VIO)

Questions about developing software on the products

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@Jeremy-Frederick , If VIO is working, then there is a very high chance that you got the orientation correct 🙂 . If the camera to IMU orientation is off by something like 90 degrees in any direction, VIO is pretty much guaranteed to fail. So if you are getting normal VIO performance, quick initialization, across multiple tests, then I would say that your orientation parameters are correct for VIO.

Please keep in mind that if you flipped the board and if you are planning to fly with PX4, you will need to change the imu rotation params in PX4 (also keep in mind that PX4 is using a different IMU that is connected to the DSP)
Modal Pipe Architecture (MPA)

Questions about developing software on the products

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@Jetson-Nano Please do not attempt to update the firmware with STLink. We will send you new boards properly programmed.
AprilTag Relocalization

Questions about developing software on the products

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@Hyosun-Yoo said in [yocto:/# roslaunch voxl_cam_ros tracking_slave.launch] Error Message ?:

Re: AprilTag Relocalization

Dear
I got an error message when I run this command.

[yocto:/# roslaunch voxl_cam_ros tracking_slave.launch]

Please tell me how to solve this message.

VOXL Vision (modalai-3-2-0-0.3.4-b.tar.gz)
VOXL Vision PX4 Apriltag Relocalization error

Error message
ERROR: could not open camera subscriber for cam id 1
[ERROR] [1034.046473200]: CameraManager::Initialize() failed
[ERROR] [1034.046845023]: Unable to open camera.
===============*
5c2c6beb-9c8b-432b-8430-fcc4d81c1ef3-image.png

Thank you so much.
Mr. Yoo, hyosun
ROS

29
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122
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K

@Zachary-Lowell-0 Okay maybe this seems to work with foxy but as i mentioned I'm using humble and it seems like there is a mismatch between the version of the px4_msgs. I can provide a docker image to recreate the problem (at least with my voxl-px4 build).

To recreate use this docker image:
run with
docker run -it --network=host learningsql/voxl-px4-hector:tagname
Do:
cd ros2_ws colcon build source install/setup.bash ros2 topic echo /fmu/out/vehicle_status
There should appear no msgs (at least on my system)

Fix this with:
rm -rf src/px4_msgs/msg unzip /px4_firmware_msgs/msg_voxl_px4.zip colcon build source install/setup.bash ros2 topic echo /fmu/out/vehicle_status
Now there should be msgs on the screen.

Idk if this is relevant for your px4_msgs fork but at least i found a solution and maybe this thread can help other people.

Thanks for you help!
Mapping and Planning

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Hi Quick question for the Voxl2 Mapper is there a way to get occupancy or TSDF/ESDF into ROS/ROS2 topic publishing?

Also if I want to run the voxl2_mapper with the voxl-dfs-server and no time of flight? How can I check the pipes or what is the output pipe of the voxl-dfs-server?
"depth_pipe_1": "/run/mpa/stereo_front_pc", "depth_pipe_1_enable": false, "extrinsics1_name": "stereo_front_l", "depth1_rate": 10, "depth_pipe_2": "/run/mpa/stereo_rear_pc", "depth_pipe_2_enable": false, "extrinsics2_name": "stereo_rear_l", "depth2_rate": 10, "depth_pipe_3": "/run/mpa/dfs_point_cloud",
Remote ID

Questions about developing software on the products

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@Mastermind That sounds like it would be possible, but obviously depends on the driver of the wlan adapter you choose. You would need to implement the bluetooth broadcast portion of Remote ID. The source code for voxl-remote-id is here and only currently supports the Wifi portion of Remote ID

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Using libvoxl_io.so from Docker

• • amitga

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@Chad-Sweet
I'm trying to read some sensor data using UART/I2C, from within a Docker container.

I will look into libmodal_pipe , thanks.
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Duplicating UVC camera

• • maxwelllwang

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This is essentially the point of MPA (Modal Pipe Architecture, our interprocess communications standard). We publish FIFOs to /run/mpa with the data (standard FIFOs use the filesystem as a handle, not for actually transferring the data, the kernel will pass the data directly from process to process). voxl-uvc-server will pull the data from the camera and write it out to a pipe in /run/mpa, which can easily be mounted in a docker image and read there. You can use the libmodal_pipe(or manually request a pipe and open the FIFO, though this will be less reliable than our extensively tested library) to read it in a docker image (or images as MPA allows numerous clients).
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Docker System error: write /sys/fs/cgroup/cpuset/system.slice/cpuset.cpus: invalid

• • wilkinsaf

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@wilkinsaf Thank you for posting your solution, very helpful!
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Push to Gitlab?

• • wilkinsaf

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@wilkinsaf Hahaha appreciate you sharing your expertise
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Can't ping in station mode and can't re-enable modem

• • jskard

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@tom Thanks for the response. The issue has been resolved. I successfully pinged google after trying this on my home network (WPA2-Personal security type), I'm guessing the issue was with the security type of my firm's network that I had been trying to connect to originally.

As for the modem issues, after familiarizing myself more with the hardware I realized I hadn't attached the VOXL LTE modem that came with my kit which probably explains why a disabling command worked and an enabling command gave me a failure message. I had incorrectly assumed the modem of concern was already onboard the flight core. Thanks to the dev team and @Chad-Sweet for your responses.
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voxl-rtsp - This computer has an invalid IP address: 0.0.0.0

• • czarsimon

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Hi @czarsimon ,

Are you seeing this IP address as the output of the command or via ifconfig ? I believe the rtsp command line command will spit out 0.0.0.0 (i.e. localhost-ish), but use ifconfig to find the real IP address and use that.
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Installing OpenCV-4.5 fails on VOXL Emulator Docker Image V1.7

• • Lynn Koudsi

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I resolved the problem by installing openmp from the voxl-packages site.
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AprilTag Relocalization

• • Chad Sweet

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@Chad-Sweet Thanks for the reply. I actually wanted to test landing feature. If we could get the instruction for landing on the apriltag, that'd be great.
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Example compiling custom TFLite model?

• • tdewolf

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Hi Matt,

Sorry about the delay in following up on this.

Switching over to running the TFLite quantized model was the necessary step to get things working. Thanks for your help!
F

Changing default cameras

• • FernandezR

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Hello Rolando,

It will not be possible to fully use four ov7251 cameras at the same time due to i2c address conflict. the downward camera can coexist with the stereo pair because
one of the stereo cameras is actually on a different i2c bus ov7251 camera has two i2c addresses, so with some software configuration it works. However, having 3 ov7251 cameras on i2c bus cannot be done without a conflict.
In a condition of i2c conflict between cameras, what will happen is..
system will be able to detect each camera at boot time because probing happens while other cameras are powered off you should be able to fully use the conflicting cameras one at a time (not concurrently) if you use the conflicting cameras concurrently, commands sent to one camera will go out to both cameras, for example exposure and gain control. nothing will physically break, but this is currently not a supported use case. there will also be a short glitch after you started the first conflicting camera and when you are starting the second conflicting camera, since the first one will also get re-initialized with the commands intended for the second camera
in your case, the ov7251 plugged into J2 was not detected because the camera configuration xml file is not configured to query this camera on J2 connector. If you wanted to enable it, you need to back up and edit the following file : /system/etc/camera/camera_config.xml and add an entry that looks like below (then reboot). The slave address 0xC0 is one of the two possible slave addresses for this camera. The other one is 0xE0 and is already used by the camera plugged into J4 (downward facing).

So are you using one of the stereo cameras + stereo flex + extension cable? if you are using the stereo flex with one camera, make sure to use the left port on the flex because the right port is connected to the secondary i2c bus, accessible only in stereo configuration. Also, multiple stereo pairs are not supported on VOXL and stereo can only be used in J3.

With the below config addition, you should be able to detect all 4 ov7251 cameras and successfully use the following configurations without confilicts:
J2 + J4 (hires slot + tracking slot) J3 + J4 (stereo slot + tracking slot) if you want to use J2 + J3 (hires + tracking slot), change the I2C id to 0xE0, but then it's the same thing as current stereo + tracking.
Now, in this configuration you should also be able to run all 4 cameras together but depending on the i2c ID of the camera in slot 0, it will conflict either with left stereo or tracking camera. I would not mess with stereo, so you could set i2c id of slot 0 to the same as in slot 2 (hires and tracking). then there is is still an issue of exposure/gain controls between the two cameras fighting with each other (both cameras will receive both exposure/gain updates).

In order to prevent two cameras from fighting exposure/gain settings the only way to do it is to prevent one of the camera drivers from sending out exposure/gain updates at all. Then both cameras will have the same exposure/gain computed based on one camera's image. This would require a little bit of work on the camera driver side but it's possible (though not supported now).

Anyway, this is just a long explanation of what you could try and what you will see.
 <CameraModuleConfig> <CameraId>0</CameraId> <SensorName>ov7251</SensorName> <SensorSlaveAddress>0xC0</SensorSlaveAddress> <ChromatixName>ov7251_chromatix</ChromatixName> <ModesSupported>1</ModesSupported> <Position>FRONT</Position> <MountAngle>360</MountAngle> <CSIInfo> <CSIDCore>0</CSIDCore> <LaneMask>0x1F</LaneMask> <LaneAssign>0x4320</LaneAssign> <ComboMode>0</ComboMode> </CSIInfo> <LensInfo> <FocalLength>4.73</FocalLength> <FNumber>2.2</FNumber> <TotalFocusDistance>1.9</TotalFocusDistance> <HorizontalViewAngle>64.1</HorizontalViewAngle> <VerticalViewAngle>51.6</VerticalViewAngle> <MinFocusDistance>0.1</MinFocusDistance> </LensInfo> </CameraModuleConfig>
R

stereo and tracking camera voxl_cam_ros

• • rapit

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Glad to hear it's working!

Yes, We're days away from finishing a rework of our docs that includes all the information about the new architecture, should be seeing it real soon.
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Flash-system-image waiting for fastboot...

• • Gaurav Borade

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@PawelJ Thank you for the suggestion.

Actually, I am facing another issue with my board, i.e. my board is going offline (https://forum.modalai.com/topic/289/adb-device-offline?_=1625029971070) and hence I am not able to communicate with it.

Once I am able to communicate it I will check this.
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How to install ipk package

• • Gaurav Borade

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finally Done

Thank so much you @tom & @Eric-Katzfey

https://forum.modalai.com/topic/280/station-mode-not-connecting-to-internet?_=1624012254214

I have to disable the microhard ethernet for it.
V

voxl-cam-ros

• • vaughanje

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@vaughanje I am with you up until this point, but I can't figure out how to kill voxl-rtsp. what command did you use for that?
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Instructions/documentation needed on how to add new code snippet on voxl-build

• • Gaurav Borade

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Thank you for your reply, I will definitely try this.
S

CMake errors on open example

• • shlee853

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This cmake file has a good example of finding OpenCV libs using cmake

https://gitlab.com/voxl-public/core-libs/libmodal_exposure/-/blob/master/library/CMakeLists.txt
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installing opencv2.4 on hellotflitegpu

• • shlee853

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No one has replied
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apriltag landing

• • shlee853

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We are working on bringing that apriltag demo back online with the latest software right now. Hope to have a more concreate answer in the next week or two
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QGC Android Build Error

• • Prasad Pawar

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Hi @Prasad-Pawar ,

This is a bit out of scope for us (we don't really develop for QGC, just use the standard releases typically).

Have you tried https://discuss.px4.io/c/qgroundcontrol/15 ?

Thanks!
S

voxl-docker-mavsdk-python build problems

• • Sebastian LaPointe

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@Sebastian-LaPointe, I have updated the GitLab repository with changes that should fix this issue. Please let us know if the issue persists

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