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

@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!

Detections is pertinent to voxl-tflite-server and onboard computer vision on yolo, NOT on april tags.

@tomverstappen I am unable to recreate the issue with a starling running 1.5.0 - the output from voxl-vision-hub shows the relative coordinate frame from the tag relative to the camera and was able to get the drone to offset correctly.

Are there any logs you can paste in here or video?

Hey @dvz, thanks for your query

We’re currently in the process of updating the voxl-tag-detector to support additional AprilTag families beyond just the 36h11.

If you’d like to try this yourself in the meantime, the following line in main.cpp creates the detector for the 36h11 family: here

To add support for the tagCustom48h12 family, you can:

Add the include:

#include <tagCustom48h12.h>

Replace the detector creation line with:

tf = tagCustom48h12_create();

Please note that this change may affect the current functionality, you’ll likely need to make additional modifications in main.cpp to ensure it builds and runs correctly.
As mentioned, we’re actively working on making this a much smoother process in the future. But if you’d like to get started now, the above steps should point you in the right direction.