@Nishkala,

This looks like a version mismatch between the voxl-voxblox you built against and the version you have on your VOXL.

To ensure the versions match, you need to install the build dependencies from the last release in voxl-cross before deploying to voxl. This can be done by running:

./install_build_deps.sh apq8096 sdk-0.8

instead of

./install_build_deps.sh apq8096 stable

Hi,

There are two answers to your question:

You can pipe depth input from voxl-dfs-server (if you're running stereo cameras) to voxl-mapper, or any other service that you may create that produces depth estimates (i.e. if you had a depth from motion project).

We absolutely plan to support the tof camera on voxl2, we're working on this right now internally and hope to support it in the next month or two.

@darwin-keem

The map is published in real-time by voxl-portal to a websocket at: ws://<VOXL_IP>:80/mesh.
If you would like to process the map real time without reading from disk, you could have another service connect to the socket and parse the binary data as defined here in voxl-portal:
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/web_root/js/mapper.js#L260

Thank you for your response Matt

@Caio-Licínio-Vasconcelos-Pantarotto No, voxl-mapper uses VIO for localization

This seems to be a popular ROS2 node that appears to be setup to use lidar:
https://github.com/SteveMacenski/slam_toolbox

Appears to do localization. We could probably attempt to modify the source code to send VISION_POSITION_ESTIMATE messages to the PX4 instance

@Amir-Avni On VOXL 2, voxl-mapper runs < 10% of CPU in typical configurations, on VOXL 1 < 30% of CPU

@muhammadbilal1 at this point, the gui only provides a single point as input. The code is all open so our customers can modify how they see fit. We are happy to incorporate merge requests if you have a feature you'd like to be incorporated into mainline

@plub said in Voxl-mapper on VOXL2:

@Zachary-Lowell-0 Does voxl-mapper need a TOF sensor to work properly?

1 Reply Last reply a day ago Reply

@plub yes you need a modalAI tof for voxl-mapper to work properly - you can technically get by by using another TOF sensor but then youd personally need to write the code to popuilte the MPA with pointcloud data the the voxl-mapper client is subscribing to.