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    voxl MPA-TO_ROS2

    ROS
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    • E
      eric
      last edited by 3 Oct 2023, 19:55

      Any possibility of opening this up to the public before the release?

      https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2.git

      1 Reply Last reply Reply Quote 0
      • Z
        Zachary Lowell 0 ModalAI Team
        last edited by 4 Oct 2023, 16:06

        @eric @jacob-yaacubov the dev branch is ready to be tested by people I would say. You still need to download ros2 on the board since it isnt available on the system image by default yet till sdk1.1 release, HOWEVER, once foxy is installed, the user can run a colcon build inside the colcon_ws directory and then run ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2 which will function the same as the original voxl_mpa_to_ros code but just in ros2 foxy.

        There will be an install script in the repository eric listed above as well that will just install ros2 foxy on target prior to running the colcon build and such.

        E 1 Reply Last reply 4 Oct 2023, 17:54 Reply Quote 0
        • E
          eric @Zachary Lowell 0
          last edited by eric 4 Oct 2023, 17:56 4 Oct 2023, 17:54

          @Zachary-Lowell-0 Sweet! Thanks Zach. I currently have ROS2 humble installed on my VOXL 2 flightdeck. Excited to try this out!

          Can you tag me when this repository is public?

          Z 1 Reply Last reply 6 Oct 2023, 15:20 Reply Quote 0
          • Z
            Zachary Lowell 0 ModalAI Team @eric
            last edited by 6 Oct 2023, 15:20

            @eric I believe the repo is public - pull down the dev branch and follow the instructions for building. HOWEVER note this is only been tested on ros2 foxy since we are running ubuntu 18 on the voxl 2, so unsure how it will run on humble.

            E 1 Reply Last reply 9 Oct 2023, 13:37 Reply Quote 0
            • E
              eric @Zachary Lowell 0
              last edited by 9 Oct 2023, 13:37

              @Zachary-Lowell-0 I am getting a 404 from gitlab saying I don't have permission to view it. This is the link I'm trying to access: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2.git

              T 1 Reply Last reply 9 Oct 2023, 16:30 Reply Quote 0
              • T
                tom admin @eric
                last edited by 9 Oct 2023, 16:30

                @eric It's not public yet

                1 Reply Last reply Reply Quote 0
                • J
                  Jeffrey Mao
                  last edited by 16 Oct 2023, 13:15

                  Is there a timeline for when it will be public in the future? We have install ROS2 Foxy, and are wondering if would be better to port it ourselves or wait for the release. Even a no would suffice, so we can start the work now

                  1 Reply Last reply Reply Quote 0
                  • Z
                    Zachary Lowell 0 ModalAI Team
                    last edited by 16 Oct 2023, 17:42

                    @eric @Jeffrey-Mao please just download the debs for now. This should be published to public within the next few days I would say. For now download the two debs, unpackage them and then source the directory: /opt/ros/foxy/mpa_to_ros2/install/setup.bash

                    1. http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-ros2-foxy_0.0.1-202310061042_arm64.deb
                    2. http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros2_0.0.1-202310132005_arm64.deb

                    Once these have both been installed on target via sudo dpkg -i "PACKAGE", you will be missing some python and xml dependencies, of which include

                    1. sudo apt-get install -y libtinyxml2-dev
                    2. export ROS_HOME=/opt/ros/foxy
                    3. python3 -m pip install netifaces
                    4. python3 -m pip install yaml
                    5. python3 -m pip install lark

                    Once these are all isntalled, you can run ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node and it will run as if it were the original mpa-to-ros

                    J 1 Reply Last reply 16 Oct 2023, 19:32 Reply Quote 0
                    • J
                      Jeffrey Mao @Zachary Lowell 0
                      last edited by 16 Oct 2023, 19:32

                      @Zachary-Lowell-0 Hi thank you for use the .deb. By the way we try to install voxl MPA-to-ROS2

                      dpkg: dependency problems prevent configuration of voxl-mpa-to-ros2:
                      voxl-mpa-to-ros2 depends on libmodal-pipe (>= 2.6.0); however:
                      Version of libmodal-pipe on system is 2.4.0.

                      Do you have a later system image for libmodal-pipe we can update with

                      1 Reply Last reply Reply Quote 0
                      • Z
                        Zachary Lowell 0 ModalAI Team
                        last edited by 17 Oct 2023, 15:36

                        @Jeffrey-Mao which SDK are you on - if you are on 1.0.0 then you should not have this issue. This MPA to ROS2 only supports the tip (aka past 1.0.0) - if you need to flash the sdk on to your board, you can download the image here: https://developer.modalai.com/asset/2

                        J 1 Reply Last reply 18 Oct 2023, 20:52 Reply Quote 0
                        • J
                          Jeffrey Mao @Zachary Lowell 0
                          last edited by Jeffrey Mao 18 Oct 2023, 20:52 18 Oct 2023, 20:52

                          @Zachary-Lowell-0 We installed Ros2 Foxy and the voxl-mpa-to-ros2 package. Thank you for the help. Unfortunately when we try to echo the /qvio message we get the following error. This is a problem if we echo from the voxl2 ssh or my computer. Do you know how to resolve this issue?

                          Cannot echo topic 'qvio', as it contains more than one type: [geometry_msgs/msg/PoseStamped, nav_msgs/msg/Odometry]
                          

                          Additioanlly when trying to stream the QVIO to either my or someone else's computer it crashes with the SDK after a bit.

                          M 1 Reply Last reply 19 Oct 2023, 18:01 Reply Quote 0
                          • M
                            Moderator ModalAI Team @Jeffrey Mao
                            last edited by 19 Oct 2023, 18:01

                            @Jeffrey-Mao can you please type voxl-version, share the output, and confirm you are on the latest SDK? As Zach said, this will not work with older SDK

                            J 1 Reply Last reply 19 Oct 2023, 18:57 Reply Quote 0
                            • J
                              Jeffrey Mao @Moderator
                              last edited by 19 Oct 2023, 18:57

                              @Moderator I upgraded ti SDK 1.0.0 as evidenced by the output


                              system-image: 1.6.2-M0054-14.1a-perf
                              kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125

                              hw version: M0054

                              voxl-suite: 1.0.0

                              current IP: wlan0: REDACTED

                              vvoxl2:~$ voxl-version

                              system-image: 1.6.2-M0054-14.1a-perf
                              kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125

                              hw version: M0054

                              voxl-suite: 1.0.0

                              Packages:
                              Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.0/binary-arm64/
                              Last Updated: 2023-10-18 19:46:25
                              List:
                              libmodal-cv 0.3.2
                              libmodal-exposure 0.0.8
                              libmodal-journal 0.2.2
                              libmodal-json 0.4.3
                              libmodal-pipe 2.8.5
                              libqrb5165-io 0.2.0
                              libvoxl-cci-direct 0.1.5
                              libvoxl-cutils 0.1.1
                              mv-voxl 0.1-r0
                              qrb5165-bind 0.1-r0
                              qrb5165-dfs-server 0.1.0
                              qrb5165-imu-server 0.6.0
                              qrb5165-slpi-test-sig 01-r0
                              qrb5165-system-tweaks 0.2.2
                              qrb5165-tflite 2.8.0-2
                              voxl-bind-spektrum 0.1.0
                              voxl-camera-calibration 0.4.0
                              voxl-camera-server 1.6.2
                              voxl-configurator 0.2.7
                              voxl-cpu-monitor 0.4.6
                              voxl-docker-support 1.2.5
                              voxl-eigen3 3.4.0
                              voxl-elrs 0.0.7
                              voxl-esc 1.2.2
                              voxl-feature-tracker 0.2.3
                              voxl-flow-server 0.3.3
                              voxl-gphoto2-server 0.0.10
                              voxl-jpeg-turbo 2.1.3
                              voxl-lepton-server 1.1.2
                              voxl-libgphoto2 0.0.4
                              voxl-libuvc 1.0.7
                              voxl-logger 0.3.4
                              voxl-mavcam-manager 0.5.1
                              voxl-mavlink 0.1.1
                              voxl-mavlink-server 1.2.0
                              voxl-modem 1.0.5
                              voxl-mongoose 7.7.0-1
                              voxl-mpa-to-ros 0.3.6
                              voxl-mpa-to-ros2 0.0.1-202310132005
                              voxl-mpa-tools 1.0.4
                              voxl-opencv 4.5.5-1
                              voxl-portal 0.5.9
                              voxl-px4 1.14.0-2.0.34
                              voxl-px4-imu-server 0.1.2
                              voxl-px4-params 0.1.8
                              voxl-qvio-server 0.9.3
                              voxl-remote-id 0.0.8
                              voxl-slpi-uart-bridge 1.0.1
                              voxl-streamer 0.7.1
                              voxl-suite 1.0.0
                              voxl-tag-detector 0.0.4
                              voxl-tflite-server 0.3.1
                              voxl-utils 1.3.1
                              voxl-uvc-server 0.1.6
                              voxl-vision-hub 1.6.6
                              voxl2-system-image 1.6.2-r0
                              voxl2-wlan 1.0-r0

                              M 1 Reply Last reply 20 Oct 2023, 19:49 Reply Quote 0
                              • M
                                Moderator ModalAI Team @Jeffrey Mao
                                last edited by 20 Oct 2023, 19:49

                                @Jeffrey-Mao voxl-mpa-ros2 is on the dev branch and not yet on stable. We expect more comprehensive testing and promotion to stable in the next few weeks. In the meantime, you can experiment with the latest code in the dev repository at your own risk

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