@Jskim Can you please open these new questions as new topics? That way the appropriate staff member can address them. Thanks!

@Eric-Katzfey Thank You! it worked great.

@Caio-Licínio-Vasconcelos-Pantarotto @Moderator I had a similar question, I calibrated the TOF camera using ros cv calibration available online. I wanted to know is there a way possible to generate a aligned depth image, since the TOF and RGB sensors have different resolutions.

Here are the two questions which I asked about the same issue:

https://forum.modalai.com/post/12529

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:

Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?

Hi sorry, I wanted to ask about the intrinsics that was highlighted by mistake. @ben-grocholsky

https://forum.modalai.com/post/12472

@Darshit-Desai said in Voxl2 Camera calibration fails for hires camera:

@Moderator Ok I will try calibrating with the ros method of calibration. I was asking this because I want to make an aligned depth image by combining hires and tof camera like the realsense cameras have. If you could also reply on the following. I am not really sure if Tofs can be calibrated

@Darshit-Desai said in Voxl2 Camera calibration fails for hires camera:

Another Requests: How to do calibration of Time of flight camera or is there a intrinsic matrix?

@Caio-Licínio-Vasconcelos-Pantarotto the VIO algorithm takes the starting extrinsics and refines based on movement of the system. So, it's normal to see small updates to the value

@Moderator said in Hires_snapshot snapshot-no-save is saving ?:

voxl-camera-server

What is the easiest way to update it ? I looks like apt update is not doing the job right.

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

@Alex-Kushleyev

Thanks for the information. I think I understand what is going on my end then.

@Jeffrey-Mao , no worries, thanks for the update!

@Moderator Right I think that is a bit too difficult.

I just edited the voxl-mapper library to send the pointcloud and it works now to get the map in ROS2 with the mpa_ros2 interface. It is a bit weird that you guys have this esdf publish pipe as a pointcloud but it doesn't seem exposed naturally

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_mapper.cc?ref_type=heads

void TsdfServer::publishEsdfPointcloud(){ std::vector<point_xyz_i> esdf_ptcloud; voxblox::Layer<voxblox::EsdfVoxel> *layer_ptr = esdf_map_->getEsdfLayerPtr(); createDistancePointcloudFromEsdfLayer(*layer_ptr, esdf_ptcloud); // intensity ptcloud for distance point_cloud_metadata_t esdf_meta; esdf_meta.magic_number = POINT_CLOUD_MAGIC_NUMBER; esdf_meta.timestamp_ns = rc_nanos_monotonic_time(); esdf_meta.n_points = esdf_ptcloud.size(); esdf_meta.format = POINT_CLOUD_FORMAT_FLOAT_XYZC; pipe_server_write_point_cloud(COSTMAP_CH, esdf_meta, esdf_ptcloud.data()); }

@david-moro , awesome! thanks for confirming.

Alex

Thank you @Eric-Katzfey , I'll check it out and will get back to you.

@James-Strawson
Thank you for the response.
we want to use an array of 4 vl53l5cx sensors to capture data around the drone. I know that there is existing support for vl53l1cx sensors. since it is crucial to know of possible obstacles from multiple angles we need the 4x4 version.
in this case, I have a point cloud of 64 points around the drone. so should I send those on the pointcloud pipe?

for the few services:
this is the service inspect output:

Service Name | Enabled | Running | CPU Usage ------------------------------------------------------------------- docker-autorun | Enabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 2.2% voxl-cpu-monitor | Enabled | Running | 0.6% voxl-dfs-server | Disabled | Not Running | voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 0.1% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Disabled | Not Running | voxl-mavlink-server | Enabled | Running | 2.9% voxl-modem | Disabled | Not Running | voxl-neopixel-manager | Disabled | Not Running | voxl-open-vins-server | Disabled | Not Running | voxl-portal | Enabled | Running | 0.1% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 30.5% voxl-qvio-server | Disabled | Not Running | voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 1.7% voxl-wait-for-fs | Enabled | Completed |

@jacob-yaacubov said in px4 params flow to autopilot:

sometimes at bootup the QGC says all parameters lost

Hi Jacob - Unsure if I am fully following but this is the explanation for how parameters work on the voxl2:

Every boot of the voxl2 kick off the px4 instance if you have that service enabled - it will then grab the parameters from /data/px4/param (if a parameter file already exists) - if you save a file from QGC of edit a parameter, from their, it will update in this file as well. As for why the parameters are lost - I am assuming what you mean is the parameter file isnt fully loaded (AKA the green bar at the top of qgc never finishes because of a timeout) - if that is the case I would recommend trying another qgc instance on a different device like a phone or different os (mac vs linux vs windows) - and see if the problem persists.

Zach

@jacob-yaacubov said in Mavlink server configuration of ports wont work:

branches

@jacob-yaacubov said in Mavlink server configuration of ports wont work:

both ros master run on 127.0.01 so its local ros communication looks more like mavlink issue not sure though

Reply

@jacob-yaacubov yes you need to change the mav sys id for both otherwise they will overlap and create the problem you stated before when connecting to qgc and having overlapping px4 instances. As for ROS you need to change the ROS_DOMAIN_ID (an external terminal environment variable) otherwise all the ros topics will also overlap and create multiple publishers and subscribers on the same drone when you have multiple on.

Zach

@Alex-Kushleyev Got it. Thank you your help and for taking the time to answer my questions!

Sashank

@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

@Jetson-Nano What does /etc/modalai/voxl-qvio-server.conf look like?

As well as voxl-inspect-cam -a