@Jetson-Nano If you want v1.15 then you just build from mainline, not from our fork.

@Judoor-0 I would recommend re-flashing the latest SDK from downloads.modalai.com Yes, /home/root gets wiped by default. When flashing a new SDK, /data is retained unless otherwise specified with a flag

@jmltt good find - I will test on my voxl2 once your fork has had a MR made. Zach

Sounds good @voxl-phoenix ! Goodluck - the VOXL2 is radically easier to interface with due to ubuntu 18.04 being the OS vs yocto so my recommendation is to migrate to that if you have the ability - if not, let me know how the mavsdk side of things goes! Zach

@atomsmasher9 said in Ultralytics version for voxl-tflite-server yolov8: Reply Hi @atomsmasher9 - so ultralytics is leveraged for training - have you followed the instructions within this repository? https://gitlab.com/voxl-public/support/voxl-train-yolov8/-/tree/master?ref_type=heads Currently I have some updated written for this as well - so for example in export.py, this line: model.export("tflite") --> model.export(model = "tflite"), but I have yet to make the PR or commit for it - the README is relatively straight forward for how you can build a model leveraging docker, an nvidia gpu, and ultralytics to create the custom model. I was able to do these below and have a successful model created and uploaded to the voxl2 - ensure you place the model in /usr/bin/dnn directory alongside the labels.txt file to ensure you have the right labels - also you can manually update the file path in the conf file in /etc/modalai/voxl-tflite-server.conf.

(top is Royale 4, bottom is 5)

@Zachary-Lowell-0 Thanks for the reply! I ment that I can't record qvio data same way as the other msgs. Trying to record qvio gives me error code like below. [image: 1729832757233-screenshot-from-2024-10-25-07-58-07.png] Still the data can be view like this "ros2 topic echo /qvio geometry_msgs/msg/PoseStamped" And I thought you cloud record this same data, but haven't found a way. My question is - is there working way to record ros2 bag for qvio and what is it? I'm asking before I start making ros2 node for that.

@Rowan-Dempster , I myself tried to do this some time ago and ran into issues, which i could not resolve. I am sure also someone else at Modal also tried it before me. If I remember correctly, my issue was that it could not get camera module in the second instance of the camera server, on this line, and i did not pursue this further (did not spend too much time on it though). https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/hal3_helpers.cpp?ref_type=heads#L79 So in your case you are able to get the camera module? To help debug, you should run logcat while you are trying this and see what messages might show up there. And, finally, just wanted to mention that we don't know if what you are doing is possible, but if you want to keep pursuing this direction, I can help if i know the answer to your questions, but may not be able to spend time working on it right now. EDIT: in order to see if separate instances of camera server are possible, you could try to see if you can run multiple instances of gstreamer plugin that uses qmmfsrc. I found a doc that should be helpful in testing this, take a look : https://thundercomm.s3-ap-northeast-1.amazonaws.com/shop/doc/1596593567074634/Thundercomm EB5_Multimedia SDK User Guide_V1.1_ie89e.pdf Specifically, the following command should work, although i did not test it: gst-launch-1.0 -e qtiqmmfsrc name=camsrc ! video/x-raw\(memory:GBM\),format=NV12,width=1920,height=1080,framerate=30/1 ! queue ! omxh264enc control-rate=max-bitrate target-bitrate=6000000 interval-intraframes=29 periodicity-idr=1 ! queue ! filesink location="/data/vid.h264" Also, i dont see how you sent the camera id in this example, but it should definitely be possible See if you can run two independent instances of gstreamer using different cameras. I think it should work, but not sure. Alex

@Alex-Kushleyev Please could you provide a simple example like arm() and disarm() or something similar to the offboard_control.cpp? Best wishes,

@brahim @tom Hi and sorry for the delayed response. Main result : no response from the rb5 Comments: the offboard code example in cpp is running in Gazebo but I cannot get the drone to arm via ROS2 run px4_ros_com offboard_control. This is the output from my terminal ~/ros2_ws$ ros2 run px4_ros_com offboard_control Starting offboard control node... [INFO] [1729601421.989530505] [offboard_control]: Arm command send Notes: The offboard setting is "off" not "false" on the voxl-vision-hub.conf. Do you have a recent tutorial on how to use ROS2 with the rb5? Best wishes,

@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 |

@Alex-Kushleyev I tried on a fresh VOXL2 that I factory flashed with 1.3.3 and did not see the same issue. Was probably something caused by my setup (either in config or something else). I know that particular voxl2 had damage to one of the mipi ports too I appreciate the help!

@tahawaru also since you are running an RB5 and not a voxl2, the most recent SDK you are running is 1.1.3 which might have dependencies in modal-pipe or modal-json that are not transferable to the newest dev branch of voxl-mpa-to-ros2 causing some form of error somewhere in the pipeline.

Manual mode is not really representative of the ability to switch into offboard mode and send setpoints. You will need to be able to arm in position or hold mode first. If you do not have an rc controller then try to arm in hold mode. If you are not able to arm in either mode, then there is a preflight check fail somewhere that needs to be addressed first.

@giladWDS M0151 should expose /dev/ttyHS1 for use. It's just a UART so it isn't specific to external flight controllers.

@Prabhav-Gupta You can just remap the topics coming out of the voxl_mpa_node, or remap the topics inside your ORBSLAM launch file. No need to mess with the source code.