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    Voxl-mapper on VOXL2

    Mapping and Planning
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    • J
      Jgaucin
      last edited by

      Hello,

      I was wondering if there's any updates on voxl-mapper working on VOXL2? I saw the post saying that it was being worked on internally and wished to deploy voxl-mapper with the stereo camera input (for the depth sensor), or even purchase a ToF sensor in order to make a map of the indoors with the Sentinel drone. I saw this in the docs over SDK 0.9 and will follow this if still relevant.

      link text

      Also, I am curious about the autonomous capability of the drone, or its capability for autonomous flight. Does the VOXL2 enable some sort of flight path planning which can be controlled either manually or autonomously? I wish to use it to navigate first in a small indoor drone cage but eventually move to autonomous flight capabilities where it can follow instructions based on what the vision system sees.

      Thank you for your time as always!

      1 Reply Last reply Reply Quote 0
      • ModeratorM
        Moderator ModalAI Team
        last edited by Moderator

        voxl-mapper has been working on VOXL 2 for about a year. It should work out of the box on a Starling.

        What you may be referring to is better documentation for using with stereo sensors instead of TOF sensors, but in general the voxl-mapper package is working.

        This video shows how it works - https://www.youtube.com/watch?v=gqlSKRP8prc&ab_channel=ModalAI

        J 2 Replies Last reply Reply Quote 1
        • J
          Jgaucin @Moderator
          last edited by

          @Moderator I see, does it also work out of the box on Sentinel? Or do some adjustments need to be made? I say this because I am not able to run it on the Sentinel currently.

          tomT 1 Reply Last reply Reply Quote 0
          • tomT
            tom admin @Jgaucin
            last edited by

            @Jgaucin Are you on SDK 1.0?

            J 1 Reply Last reply Reply Quote 1
            • J
              Jgaucin @tom
              last edited by

              @tom No, currently on SDK 0.9.5 I haven't flashed it yet for the new SDK update

              1 Reply Last reply Reply Quote 0
              • J
                Jgaucin @Moderator
                last edited by

                @Moderator I will update it now and see if it becomes available

                1 Reply Last reply Reply Quote 0
                • sspillerS
                  sspiller
                  last edited by

                  @Tom, is Voxl-mapper working SDK 1.0 yet?

                  J 1 Reply Last reply Reply Quote 1
                  • J
                    Jgaucin @sspiller
                    last edited by

                    @Moderator @tom This might be a more general question but, is there any way to push the voxl-mapper code to the Sentinel from the Gitlab? I want to test out the pointcloud 3D reconstruction of the environment using the dfs server if possible? Is it SLAM capable with stereo on the Sentinel Development Drone, I see that it is availble for the Starling which has PMD TOF, Tracking, 4k30 image sensors but I haven't seen any documentation or video for the Sentinel which has 2 Stereo Pairs, Tracking, 4K High-Res image sensors.

                    What would be the best steps to move forward with my goal?

                    Thanks, as always!

                    tomT 1 Reply Last reply Reply Quote 0
                    • tomT
                      tom admin @Jgaucin
                      last edited by

                      @Jgaucin If your Sentinel is on SDK 1.0, voxl-mapper 0.1.9 should be available onboard for installation by running apt install voxl-mapper

                      J 1 Reply Last reply Reply Quote 1
                      • J
                        Jgaucin @tom
                        last edited by

                        @tom Hello, due to the issue described in this discussion post here I wasn't able to run the dfs-server and therefore the voxl-mapper on SDK 1.0.0 on the Sentinel's VOXL2.

                        Now I am running into some issues after doing apt install voxl-mapper onto VOXL2 SDK 0.9.5 and running the command voxl-mapper on the Sentinel.
                        "ERROR fetching tf from tf ringbuffer
                        there wasn't sufficient data in the buffer
                        "

                        Voxl_Map102.png

                        This only shows the following image onto voxl portal and does not construct a map.

                        Voxl_Map101.png

                        Also, is this solution still relevant to 0.9.5? It states that there is an issue with the qvio server receiving a pose estimate here.

                        Voxl_Qvio103.png

                        Taylor PresleyT 1 Reply Last reply Reply Quote 0
                        • Taylor PresleyT
                          Taylor Presley @Jgaucin
                          last edited by

                          @Jgaucin @tom Any tips on getting this to work? I am running into the same issue using a Sentinel with voxl-suite 1.1

                          Any help is appreciated!
                          Thanks,
                          Taylor

                          Taylor PresleyT 1 Reply Last reply Reply Quote 0
                          • Taylor PresleyT
                            Taylor Presley @Taylor Presley
                            last edited by

                            @tom nevermind, I got it figured out!

                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
                            • Jetson NanoJ
                              Jetson Nano @Taylor Presley
                              last edited by

                              @Taylor-Presley Could you share how you solved the above error?

                              Thanks

                              1 Reply Last reply Reply Quote 0
                              • Zachary Lowell 0Z
                                Zachary Lowell 0 ModalAI Team
                                last edited by

                                @Jetson-Nano can you upgrade to the most recent SDK please and paste the output of voxl-mapper - if its the ring buffer issue - which TOF are you using?

                                Also can you confirm the drone is in position mode prior to flight

                                P 1 Reply Last reply Reply Quote 0
                                • P
                                  plub @Zachary Lowell 0
                                  last edited by

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

                                  Viktor GalV 1 Reply Last reply Reply Quote 0
                                  • Viktor GalV
                                    Viktor Gal @plub
                                    last edited by

                                    @plub yeah, unless you have other means to get the depth information. see the code: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_mapper.cc?ref_type=heads#L99

                                    basically you need a depth sensor of sort.

                                    1 Reply Last reply Reply Quote 0
                                    • Zachary Lowell 0Z
                                      Zachary Lowell 0 ModalAI Team
                                      last edited by

                                      @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.

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