Thanks @modaltb , I appreciate your feedback. I think the usb-to-ethernet can make sense at least for proof-of-concept. @Chad-Sweet Yes, I am aware there is already a companion computer on the VOXL Cam. In my current work, I've already got an autonomy stack implemented on-top of a custom px4 drone platform with the upboard as the companion. My first interest is to add the VOXL Cam purely as a "tracking module" to replace something like the intel t265, and integrate the odometry out of it into my existing software. This would give me a way to evaluate the VOXL Cam in the use-cases I am exploring with a drone/autonomy configuration that is known to work. From there, depending on how well it works, I might consider replacing the upboard with the VOXL Cam, but that would not be the first thing I would do, as I would have quite a bit of software to re-work/port edit: It's good the VOXL can already run ros; I figure I could use voxl_mpa_to_ros to pass the VIO data over ROS from the VOXL to the Upboard in this PoC just to get started easily.

Hi @Chad-Sweet, even though this is not public (yet?), I setup a docker running open-vins. It runs without problems but I keep getting fast divergent behavior. Do you happen to have a launch file / parameter settings for open-vins with good parameter estimates for the flight-deck platform? I am not sure if my I set the extrinsics correct. I thought it must be simply the inverse of the output of voxl-inspect-extrinsics as open-vins expect a T_C0toI matrix: <rosparam param="cam0_wh">[640, 480]</rosparam> <param name="cam0_is_fisheye" type="bool" value="true" /> <rosparam param="cam0_k">[277.207560, 277.285144, 335.460288, 218.329580]</rosparam> <rosparam param="cam0_d">[-0.002486, 0.006832, -0.006556, 0.001300]</rosparam> <rosparam param="T_C0toI"> [ 0.0, 1.0, 0.0, -0.015, -0.70711, 0.0, 0.70711, 0.00283, 0.70711, 0.0, 0.70711, -0.0212, 0.0, 0.0, 0.0, 1.0 ] </rosparam> Another possible reason would be badly calibrated imu noise values. A reference file would be really helpful. Thanks!

@Matt-Turi @Chad-Sweet Sweeeettt. Thanks guys

@Chuck-Bokath Great to hear that you're making progress. As for developing your new program you can use the voxl-emulator docker image: https://docs.modalai.com/voxl-emulator/ in order to compile programs for VOXL on an Ubuntu machine. Here is a good doc on MPA https://docs.modalai.com/voxl-sdk/#what-is-modal-pipe-architecture-mpa

Hi @Aldo-Castro-Freire , The docker on target is somewhat old (see this post) and there's a chance there's compatibility issues going on with docker hub. We've tested with google cloud registry and had success but haven't tried docker hub.

@Daniel-Ryu I figured. We just wanted to double check that this was the case. Thank you!

For anyone who runs into this same issue, I changed my subscriber to listen to /map/tof_pc (which has the PointCloud2 type). My code (to extract the z value) is this: # get the depth image dep_frame = np.fromstring(data.data, dtype=np.single) # get numpy array dep_frame = dep_frame.reshape(172, 224, 3)[:,:,2]

Hi @Cole-Mathieu , We have a little bit of documentation here with respect to AUX outputs. The FlightCore form factor only has the 8 PWM outputs, so it's a little limited, but we've used it to control a two channel gimbal: https://docs.modalai.com/voxl-m500-gimbal-user-guide/#auxillary-outputs

Yep, This was an bug with voxl-utils v0.8.4 sourcing ros files in the wrong order, I just pushed a patch (0.8.5) up that fixes this, should be available in a few minutes.

@Aldo-Castro-Freire We use Google Cloud to host our VPN servers so I would assume AWS would be just fine. This sounds like a configuration issue to me that the OpenVPN forum could help you out with.

Hi @John-Mccarty , checking in to see if you've progressed at all through this? The process is a little picky and sometimes requires a few tried.

@BrandMetis-Width Also this might be of interst to you - https://github.com/facontidavide/Bonxai Not yet ROS integrated - but could be an excellent match. Core implemented in < 1000 lines of code too.

Can you show an example output of what you are seeing? Also, which modem are you using?

I'm sorry, we do not have any experience with ad-hoc mode. You could try an external wifi module that supports this. If you need to rebuild the kernel, the source code is here

You can download the Sierra WP7610 AT command data sheet from here to check what AT commands are supported: https://source.sierrawireless.com/resources/airprime/software/airprime_wpx5xx_wp76xx_wp77xx_at_command_reference/

@modaltb my FlightDeck have a barometer 3D printed cap. But it was not tight, there was a groove in it. Maybe it was planned? By completely closing the barometer, we fixed the problem.

Update: I completely removed docker and voxl-docker from my system. I rebooted, reinstalled docker, and followed these steps to install voxl-docker. Now, I get a different error (same as here) : jared@jared-ubuntu:~/voxl-docker$ voxl-docker -i voxl-emulator -e "/bin/bash" launching image: voxl-emulator with the following command: docker run --rm -it --net=host --privileged -w /home/jared --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/jared/voxl-docker:/home/root:rw -w /home/root voxl-emulator /bin/bash standard_init_linux.go:228: exec user process caused: exec format error I followed the instructions at the link. The first two commands ran without any issues. I had to modify the last one to fit my architecture: sudo apt-get install qemu binfmt-support qemu-user-static docker run --rm --privileged multiarch/qemu-user-static --reset -p yes jared@jared-ubuntu:~/voxl-docker$ docker run --rm -t amd64/ubuntu uname -m Unable to find image 'amd64/ubuntu:latest' locally latest: Pulling from amd64/ubuntu 7b1a6ab2e44d: Pull complete Digest: sha256:7cc0576c7c0ec2384de5cbf245f41567e922aab1b075f3e8ad565f508032df17 Status: Downloaded newer image for amd64/ubuntu:latest x86_64 That worked. Now the voxl-emulator appears to work too: jared@jared-ubuntu:~/voxl-docker$ voxl-docker -i voxl-emulator -e "/bin/bash" launching image: voxl-emulator with the following command: docker run --rm -it --net=host --privileged -w /home/jared --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/jared/voxl-docker:/home/root:rw -w /home/root voxl-emulator /bin/bash + USER_ID=0 + USER_NAME=root + GID=0 + getent group 0 root:x:0: + echo 'Starting with UID : 0' Starting with UID : 0 + useradd --shell /bin/bash -u 0 -g 0 -o -c '' -M root useradd: user 'root' already exists + addgroup root users + export HOME=/home/root + HOME=/home/root + ls -ld /home/root drwxrwxr-x 8 james host_group 4096 Nov 1 21:45 /home/root + echo 'root ALL=(ALL) NOPASSWD: ALL' + ls -l /etc/sudoers.d/ total 8 -rw-r--r-- 1 root root 30 Nov 23 2020 james -rw-r--r-- 1 root root 29 Nov 1 22:26 root + cat /etc/sudoers.d/root root ALL=(ALL) NOPASSWD: ALL + chmod 777 /tmp + chmod 711 /usr/bin/sudo + chmod +s /usr/bin/sudo + ls -l /usr/local/bin/su-exec -rwxr-xr-x 1 root root 7660 Aug 14 2018 /usr/local/bin/su-exec + ls -l /bin/bash -rwxrwxrwx 1 root root 959344 Aug 12 2018 /bin/bash + echo 'exec /usr/local/bin/su-exec root /bin/bash' exec /usr/local/bin/su-exec root /bin/bash + exec /usr/local/bin/su-exec root /bin/bash bash-4.3#

We do not have any experience with Python IDEs, sorry. There's no reason any IDE that supports remote debugging with Ubuntu wouldn't work. Check the Docker networking documentation if you run into any issues

Yes that shouldn’t be a problem.