Subcategories

• VOXL SDK

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

  71
  Topics
  335
  Posts

  W

  We were getting this error on voxl-streamer.

  We thought it was an issue with something voxl oriented. Turns out We were using a busted version of VLC that was on ubuntu 24. switching to a different media player worked.

  Posting here incase anyone runs into a similar issue. Thanks!

  voxl2:/$ voxl-streamer Waiting for pipe hires_small_color to appear Found Pipe detected following stats from pipe: w: 1024 h: 768 fps: 30 format: NV12 Stream available at rtsp://127.0.0.1:8900/live A new client rtsp://192.168.0.211:54134(null) has connected, total clients: 1 Camera server Connected gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm A new client rtsp://192.168.0.211:54148(null) has connected, total clients: 2 rtsp client disconnected, total clients: 1 rtsp client disconnected, total clients: 0 no more rtsp clients, closing source pipe intentionally A new client rtsp://192.168.0.211:54150(null) has connected, total clients: 1 Camera server Connected gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm A new client rtsp://192.168.0.211:54158(null) has connected, total clients: 2 rtsp client disconnected, total clients: 1 rtsp client disconnected, total clients: 0 no more rtsp clients, closing source pipe intentionally A new client rtsp://192.168.0.211:54166(null) has connected, total clients: 1 Camera server Connected gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm A new client rtsp://192.168.0.211:54180(null) has connected, total clients: 2 rtsp client disconnected, total clients: 1 (voxl-streamer:6325): GLib-GObject-WARNING **: 18:30:24.846: instance with invalid (NULL) class pointer (voxl-streamer:6325): GLib-GObject-CRITICAL **: 18:30:24.846: g_signal_emit_by_name: assertion 'G_TYPE_CHECK_INSTANCE (instance)' failed rtsp client disconnected, total clients: 0 no more rtsp clients, closing source pipe intentionally Camera server Connected A new client rtsp://192.168.0.211:54188(null) has connected, total clients: 1 gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm A new client rtsp://192.168.0.211:54196(null) has connected, total clients: 2 rtsp client disconnected, total clients: 1 rtsp client disconnected, total clients: 0
• GPS-denied Navigation (VIO)

  Questions about developing software on the products

  46
  Topics
  209
  Posts

  C

  @Allen-Wu Yes, there are multiple ways to use GPS hardware and data all controlled by PX4. Let me walk you through the possibilities in the order of coarse grain control to fine grain control below:

  Unplugging the connector to the GPS unit: this will outright disable its capability (also losing magnetometer as well). In this case no gps data will be present in the system nor logged. This applies from power up to power down.

  Disabling the GPS driver, done by using the PX4Shell and running "gps stop': GPS hardware is still running but data is not used by PX4 subsystems, hence why you still get raw data logged. You can access the PX4Shell via QGC-->[Analyze Tools]-->[MAVlink Console] (type 'help' will show you the command options). This is the scenario in the above video example.

  Enable/Disable GPS processing: apply PX4 params.
  Apply params using these parameters will include GPS data in the position estimate along with VIO.

  Removing GPS data in flight: you can just alter these 2 values to add/remove GPS data in the position estimate.
  EKF2_EV_CTRL
  EKF2_GPS_CTRL
  I'll refer to the QGC/PX4 docs on their function. note altering these in flight can cause jumps in the position estimate causing the drone to have aggressive, unpredictable motions until the position is reestablished.

  From your request, it sounds like you want both VIO and GPS running, hence you can just apply option #3 until you're ready to turn off GPS.

• Modal Pipe Architecture (MPA)

  Questions about developing software on the products

  36
  Topics
  178
  Posts

  A

  @Jetson-Nano , it looks like your server will also be a mpa client - it will need to subscribe to the data from voxl-qvio-server. After processing the data, will you need to publish something from your server?

  You can get started by using the following tool / example (voxl-inspect-vio) : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-vio.c which you may have already used on VOXL2. The example subscribes to the vio output and prints out some data to the terminal. You can extend this example to achieve what you need. In terms of building the application, you can see how the tools are built in this repo and follow the same structure to add your application to a separate project or to your own copy of the voxl-mpa-tools project.

  Alex

• AprilTag Relocalization

  Questions about developing software on the products

  6
  Topics
  25
  Posts

  Z

  Spot on @Matt-Ooi - the voxl2 is natively meant to handle transformations for ardupilot and px4 - BUT you are using MAVROS which is a different tranformation all together - hence why you would have to do the transofmratio yourself before sending into the flight stack running ardupilot (aka when calling mavros offboard) or something

• ROS
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  T

  @Zachary-Lowell-0

  offboard mode:
  d5d4a98e-4bf0-4aa7-baee-522cb331b4a7-image.png

  The drone does NOT arm from the ROS2 command but it can be armed with the RC

  3)rb5:~$ voxl-inspect-services
  Scanning services...
  bea8dc77-6e7c-4635-b0b0-c7b9a5ec7676-image.png

  4)/usr/bin/voxl-px4-start
  466822e7-ff3f-4c08-a6c4-780b619665d0-image.png

  Best wishes,

• Mapping and Planning
  14
  Topics
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  Z

  @plub said in Voxl-mapper on VOXL2:

  @Zachary-Lowell-0 Does voxl-mapper need a TOF sensor to work properly?

  1 Reply Last reply a day ago Reply

  @plub yes you need a modalAI tof for voxl-mapper to work properly - you can technically get by by using another TOF sensor but then youd personally need to write the code to popuilte the MPA with pointcloud data the the voxl-mapper client is subscribing to.

• Remote ID

  Questions about developing software on the products

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  Topics
  2
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  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