Thank you. I got the VIO going on the drone. I noticed that when running the VIO server, the IMU_BW error kept coming up and that was the cause of the server's crash. Therefore, I increased the limited_imu_bw_trigger parameter in the voxl-qvio-server.conf arbitrarily to 100 and it worked fine.

You can't really tune the feature detection algorithm. You can tune the exposure algorithm. You might try to increase ae_msv parameter in camera-server config to maybe add more contrast?

@Steve-Turner Thank you for your help. I realize you are not part of the ModalAi Dev Team, but I would like to ask for your help with this. There is more information that I have posted on this thread. I am lost, and would really appreciate any kind of help you could provide. Thank you.

@Steve-Turner - Yeah I have put EKF2_AID_MASK to 0. Then the drone would just be behaving normally. @Cliff-Wong - I understand that I would have to disable qvio-server, if I would only fly in non-evdata modus. But when flying with evdata, if then the evdata goes bad, I need to switch to non-evdata to be able to save the drone from crashing. But now the drone will still crash!

Hi @Matt-Turi, Thank you very much for your clear answer. We will give this a try! If you have any examples or more information on how to do this, please feel free.

Thank you for your response Matt

Anything with visual texture will improve performance. It does not have to be an AprilTag. Just anything with a non-repeating pattern

Hi, The MV library is made by qualcomm and has some licenses attached to it, we can't publish (and don't even have access to ourselves) the source code and have to keep the headers behind a EULA. Since both our voxl system images and docker build environments are behind said EULA, that's where we keep the header. It can be found in /usr/include/mv/ on both the voxl and the voxl-emulator docker image.

@darwin-keem The map is published in real-time by voxl-portal to a websocket at: ws://<VOXL_IP>:80/mesh. If you would like to process the map real time without reading from disk, you could have another service connect to the socket and parse the binary data as defined here in voxl-portal: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/web_root/js/mapper.js#L260

@Matthew-Booker thank you!

@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. ===============* [image: 1660694916409-5c2c6beb-9c8b-432b-8430-fcc4d81c1ef3-image.png] Thank you so much. Mr. Yoo, hyosun

Hi, There are two answers to your question: You can pipe depth input from voxl-dfs-server (if you're running stereo cameras) to voxl-mapper, or any other service that you may create that produces depth estimates (i.e. if you had a depth from motion project). We absolutely plan to support the tof camera on voxl2, we're working on this right now internally and hope to support it in the next month or two.

Hi, We're still not sure what caused the scheduler issue, it was a new feature we were hoping to integrate into the stack when you found this bug but aren't able to right now. In the meantime we've pushed updated packages with these calls removed so that all of the packages can run as intended. If you update the packages via OPKG to latest there should be no issues with the scheduler.

@Nishkala, This looks like a version mismatch between the voxl-voxblox you built against and the version you have on your VOXL. To ensure the versions match, you need to install the build dependencies from the last release in voxl-cross before deploying to voxl. This can be done by running: ./install_build_deps.sh apq8096 sdk-0.8 instead of ./install_build_deps.sh apq8096 stable

[image: 1656071003393-993cf791-fa28-467f-8f63-e908d1c29727-image.png] This now the only thing I get. So there is no intrinsics or extrinsics files for right/left/stereo & tracking. I will do the camera calibration then. Thanks