@claw said in VOXL2 ROS2 Starling Code Inconsistencies: @Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python? Reply @claw yes you can follow this post to get battery over the DDS: https://forum.modalai.com/topic/4353/voxl2-px4-ros2-mpa-to-ros2-for-battery-voltage-problems/12?_=1745355297145

@Eric-Katzfey Sure!

@Jskim Finally, I tried a test. I tried changing the video player and the Streamer died immediately. The conclusion is that the Streamer died even when it was in the foreground. [image: 1744965805106-%ED%94%8C%EB%A0%88%EC%9D%B4%EC%96%B4-%EB%B3%80%EA%B2%BD%ED%95%98%EB%A9%B4-%EB%B0%94%EB%A1%9C-%EC%A3%BD%EC%9D%8C.jpg] Thanks, JS, Kim

@Rowan-Dempster No problem! Kind of primitive but effective

@teddy-zaremba Temporary fix by just installing missing package: apt-get install -y libwayland-server0:arm64 libwayland-dev:arm64 Also have to install this for voxl-portal apt-get install -y libglib2.0-0:arm64

@Samuel-Lehman In this case you are setting up the voxl-streamer outputs. voxl-mavcam-manager simply informs QGC about which outputs are available to it. You don't need to do anything manually. Just set up a systemd service file for each instance of voxl-streamer. (for example: /etc/systemd/system/voxl-streamer.service)

@brahim Thanks for this advice! I'm working on Windows with WSL and it is impossible for me to build the docker image by following the instructions on the voxl-docker-mavsdk README. I'm still unsure why the image build on the VOXL and not on my WSL Ubuntu, but at least I got it to work.

@newdroneflyer The different operating TOF modes (for the TOF V2 sensor on Starling 2) are described here in terms of power usage and fps : https://docs.modalai.com/M0178/#irs2975-operating-modes . We do not have exact information, but the different modes emit different amount of IR power and using different modulation schemes. The operating modes are tuned for the different ranges as stated (ultra short, short, mid long), which means depending on your application, you can choose one or the other. The number of sampling points per frame is the same for each mode, but FPS can be chosen based on what you need and it has to be within the provided specs (short range allows you to use higher fps). We have not done specific studies to measure the performance of the sensor to the detail that you are asking about. I can collect some data for you if you need. What format? There are also some tuning parameters, that can be tuned (can be found here with some comments : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/tof_interface.cpp?ref_type=heads#L1033) . You would probably need to experiment yourself if you wanted to get the best performance out of the sensor. Alex

@mkriesel , there is no way to turn off power to just the IMU. It seems your IMU is "broken" and it may not be safe to use it for any application that might involve moving parts You can try to restart voxl-imu-server, which will perform a complete re-init of the sensor, but this will probably not fix the actual issue even if it helps with temporarily recovering the sensor from the latched state. Alex

@SKA , this is most likely due to the max disparity value being too large - for 1280x800 resolution the maximum value is 32. the max disparity parameter limit is as follows: width <= 640 : max disparity = 64 (or less, in steps of 4) 640 < width <= 1280 : max disparity 32 (or less in steps of 4) 1280 < width <= 1920: 16, 12,8, or 4 So in your case, you should update your max disparity parameter to 32 or less. I have been testing AR0144 DFS recently and i also found that i needed to increase the min_threshold and cost_threshold from the default of 10 that was used for OV7251. I found that values in the range of 50-80 produced good results. Here is some additional information regarding DFS: min_threshold: Lower bound for adjusting occlusion cost threshold. When set to < cost_threshold, the occlusion penalty is varied linearly from this minimum value from the first row to the last row. The last row takes cost_threshold. Range: 0 to 100 Recommended range: 50 to 75 min_threshold <= cost_threshold cost_threshold: Occlusion cost threshold. The higher the value, more smoothness is enforced. Range: 0 to 100 Recommended range: 50 to 75 Alex

Any solutions? I'm having the same exact problem.

@Aaron-Porter , Are you asking about a specific camera? (which one) In general, you should not specify max exposure (in camera server config) which exceeds 1/fps. This can be often overlooked, so we recently added a check that enforces maximum exposure to be slightly less than 1/fps : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/aa3ce587f6be769e1b07edf57f66e1eec40d4644 However, in some special cases, there may be other limitations. One case that I know of is the synced AR0144 at 30fps has a maximum exposure of less than half of 1/fps, otherwise it will skip frames, so our defaults for AR0144 are set to have 12ms maximum exposure. Also, you don't want to set the exposure too high for tracking cameras, since you will get too much motion blur. Alex

@Samuel-Lehman I think the issue is with the tflite version running on voxl, which does not support v3 ops. An update to tflite on the voxl is being pushed but it will take some time to be merged into the main SDK. However, you can try tensorflow 2.17.1 from this branch. Note that since it is not completely integrable, running it is slightly more complex. Make sure you are using the newest voxl-cross image to build voxl-tflite-server. On Voxl, it cannot run directly, and you would have to run it via a Docker container. You can find a sample Dockerfile provided in docker_samples/ in the 'update_tf' branch. For further context on integrating opencl please refer to this. Hopefully, the updated tflite will contain the necessary v3 op and it works smoothly.

@Zachary-Lowell-0 What kind of upgrade is necessary for this Rb5? Should we upgrade the sdk? we can run ros2 foxy with it. The dds is also working. How did you build this ros2 packages and nodes https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2 Thank you

@Alex-Kushleyev Thank you, it works!

@Alex-Kushleyev I understand. Thanks for the quick reply. Thanks, JS, Kim

@MikeD Docker is not installed by default, but you can follow the ubuntu install instructions on VOXL2:https://docs.docker.com/engine/install/ubuntu/

@griffin , this seems like an network issue. So please try the following: open a terminal and just run the following command to "inspect" the hires stream so that it is always going and you can check if it's running any time : voxl-inspect-cam hires_down_small_encoded start a continuous ping test from your host that is trying to receive the video feed keep testing the video feed until you see the issue occur and check if ping is dropping out and double check voxl-inspect-cam output to make sure the data is flowing. What i expect is the output of voxl-inspect-cam should be continuously updating and you may see ping having trouble. Please let me know what you observe. Regarding the voxl2 heating up, i will check with the team. open-vins-server is running (VIO) and it has been recently updated to use GPU for feature detection, so a slight increase in voxl2 temperature may be possible. Alex