Subcategories

• VOXL SDK

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

  29
  Topics
  147
  Posts

  J

  @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

  35
  Topics
  130
  Posts

  A

  @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

  26
  Topics
  136
  Posts

  E

  @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

  3
  Topics
  5
  Posts

  H

  @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
  Topics
  122
  Posts

  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
  13
  Topics
  40
  Posts

  J

  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

  1
  Topics
  2
  Posts

  M

  @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