Documentation updated here!

@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.
===============*
5c2c6beb-9c8b-432b-8430-fcc4d81c1ef3-image.png

Thank you so much.
Mr. Yoo, hyosun

@iparra have you read through the documentation on how to configure the tags? https://docs.modalai.com/voxl-tag-detector/#voxl-configure-tag-detector

@Alex-Kushleyev yes seems like it, thank you!

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

Problem solved,
Thanks anyway

@Madelyne-Rossmann , sounds good! We will work on enabling larger resolutions for calibration and tag detection. It is a bit of a hassle due to very large frames, so some optimizations need to be made.

Alex

We have managed to solve the transformations and now get the correct tag detection.
But even with fixed_frame_filter_len set to 1, QVIO and OpenVins are used and we see no relocalisation happening.

Does someone have a working example which we can look at, please?

@Eric-Katzfey Thank you for the reply,
If I understand correctly, the example you provided shows MAVSDK running directly on the VOXL — so on the drone itself. However, we want to run our script on a separate PC to be able to control all drones at once. We're not sure which port to use to communicate with PX4 while also taking advantage of the relocalization handled by VOXL.

Thank you again for your help!