@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()); }

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

@tom thank you for reverting , I sorted out the issue, the file name in the voxl-qvio-server was opencv_tracking_front_intrinsics.yml instead of opencv_tracking_intrinsics.yml
and in the voxl-vision-hub the name was tracking_front which i renamed in tracking. After the above mentioned changed the voxl-qvio-server is working fine.
thank you for the support.

@Alex-Kushleyev @Eric-Katzfey can you check it out and help with the code.

I am also interested what kind of signal is send to the neopixel LEDs to turn it ON.
And with addition to that what is the command to turn ON only blue lights.

@Alex-Kushleyev Thank you, it works!

@Eric-Katzfey Sure!

@tom @Zachary-Lowell-0 Looks like I got it to work, I was just running the wrong command. Is there an existing topic called "tag_detections" that should be appearing or is there another repository I need to download in order to obtain that? Thank you.
ca188661-3943-4bac-beb5-16765bb7f96b-image.png
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@Evan-Hertafeld said in Using MPA within voxl-docker-mavsdk-cpp:

libmodal_pipe

@Evan-Hertafeld @Jetson-Nano

You need to share all those files via a volume mount alongside with the /run/mpa directory to allow docker to probe the data and grab from an MPA pipe.

so in your docker run something like -v /usr/include/modal_start_stop.h:/usr/include/modal_start_stop.h needs to be done - the other option is you just download the actual MPA debian inside your docker image and call it a day - then you will have all the necessary headers, libs, binaries, and you just need to share /run/mpa as a volume to access the data.

Zach