@h3robotics , I see, thanks for clarifying.

Is the ESC detected by PX4? What you can do is stop the px4 service using systemctl stop voxl-px4 and then run the px4 in a terminal : voxl-px4 -d , this will start px4 with an interactive px4 shell. You can also see debug prints from different modules that are starting up. Look for the voxl_esc module, it should say whether it was able to detect the ESC and, if so, then it will print some information about the ESC, such as its type, firmware version, etc.

If the ESC is not detected, then you may have ESC parameters set up for incorrect baud rate (your PX4 params expect 2mbit, but perhaps your ESC is using lower bit rate, so you can update your ESC params to 2mbit). It is possible that your ESC is using 250K baud rate which is what it may ship with, so you can try 250K in PX4 to test that. If your ESC is set up for the lower bit rate, i would suggest updating that to at least 921600, or 1mbit or 2mbit in order to reduce delay and support the throughput for the ESC commands and telemetry.

Alex

@Yoshimaru-Tanaka , you are right, the information in the documentation is not sufficient to diagnose this issue.

There is a page already for camera debugging information, but it is very brief. We will add more details (from this thread and more) to this page.

https://docs.modalai.com/debugging-camera-issues/

Thank you

Alex

@h3robotics , did you set VOXL_ESC_PUB_BST to 1? it should be a 0 or 1, not "Enabled". please double check.

@KnightHawk06 With VOXL 2 different kernels enable different camera configurations. You'll want to flash the kernel that supports camera configs 1-25,

I recommend downloading the latest SDK from downloads.modalai.com, running ./install.sh and when asked the following:

Detected OS: Linux
Detected: M0054-1 (QRB5165M)
Detected: Config 1 w/ M0173 Breakout Board (Starling 2 Max, Starling 2, FPV V5)

=======================================================================================================
In order to support all of VOXL's camera configurations, specific drones require differing kernel images.
Please select your drone hardware to proceed with flashing the appropriate kernel image.
=======================================================================================================

PLEASE SELECT WHICH KERNEL TO FLASH
1. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)
2. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014), FPV V5 (D0008)

Select your choice from the options above
or press [Enter] to continue with current config: 

Choose option 1 for M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)

@Jetson-Nano We have never used Microhard on windows but it's possible your firewall is blocking UDP data on that port

@h3robotics , do you actually need to create a camera config, so that you can run voxl-configure-cameras or you just need to set up your system for testing a single camera? The latter can be done by modifying the /etc/modalai/voxl-camera-server.conf by removing all camera configs except for IMX412 (if you want to keep the same settings for IMX412). Also, depending on where you have the IMX412 / M0155 plugged in, you would use sensor module 0, 2, or 4 (corresponding to J6, J7 and J8) because the M0155 only exposes the single camera (lower) port on the dual-camera connector on VOXL2.

If you need more details, please let me know.

Alex

@kestrelsystemsbp , yes, alternate calibration methods are possible. Do you have a preferred method / software that you would like to use?

Also, which camera are you trying to calibrate and what resolution?

Alex

@Matthew-Wellner , I am glad you got it working! When you used M0076 single camera interposer connected to VOXL2 J7, actually you were connecting to the "lower" camera slot, so that would be J7L, meaning slot ID 2, not 3. That is why your camera was not detected in that case.

Regarding your M0084 not working, it could be a hardware issue in the flex cable or it's connectors. In order to figure this out, some more testing would be needed. Also, typically we suggest avoiding daisy chaining flex cables, so M0076 / M0135 allows you to do just that. It is possible that a combination of M0084 and another extension cable create sufficient signal distortion of the MIPI lines to cause CRC errors.

Alex

@tahawaru said in How to build-compile FOXY ROS2 packages and nodes for RB5:

pushing your docker instance to the voxl2, then deploying the docker container, and running ros2 run command inside the docker container correct?

I build my docker container on the voxl2 and then run everything inside. I am unsure I am following what you are doing. If its easiest, just install docker on your voxl2, then build your container on there and call it a day.

The other option is to run on disk outside of a docker instance. The voxl2 supports ros2 foxy natively on disk. To install this you can just do apt-get install voxl-ros2-foxy - lmk if that helps.

@KnightHawk06 ,

You should double check something - is your calibration pattern perfectly flat?

When I perform camera calibration, I use an LCD screen to display the pattern whenever possible, because the screes are typically very flat.

In order to avoid blurring, you could (temporarily) limit the upper end of the exposure range in volx-camera-server.conf to something like 5ms and that should help. This will cause the gain to be increased (automatically) to achieve the same i mage brightness, which will result in a bit more noise, but it should be ok. After calibration, you can set the upper exposure back. Alternatively, you can set the exposure / gain from voxl2 command line like so:

voxl-send-command tracking_down set_exp_gain 5.0 400

(this should override the automatic exposure / gain control and set the exposure to 5ms and gain to 400 (4.0x analog gain).

If you are still using the printed pattern, increasing the illumination in the room should also help make the image brighter and drive the exposure down, reducing the blur.

Alex