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    voxl MPA-TO_ROS2

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    • E
      eric @Zachary Lowell 0
      last edited by eric

      @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?

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

        @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 Reply Quote 0
        • E
          eric @Zachary Lowell 0
          last edited by

          @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

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

            @eric It's not public yet

            1 Reply Last reply Reply Quote 0
            • Jeffrey MaoJ
              Jeffrey Mao
              last edited by

              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
              • Zachary Lowell 0Z
                Zachary Lowell 0 ModalAI Team
                last edited by

                @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

                Jeffrey MaoJ 1 Reply Last reply Reply Quote 0
                • Jeffrey MaoJ
                  Jeffrey Mao @Zachary Lowell 0
                  last edited by

                  @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
                  • Zachary Lowell 0Z
                    Zachary Lowell 0 ModalAI Team
                    last edited by

                    @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

                    Jeffrey MaoJ 1 Reply Last reply Reply Quote 0
                    • Jeffrey MaoJ
                      Jeffrey Mao @Zachary Lowell 0
                      last edited by Jeffrey Mao

                      @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.

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

                        @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

                        Jeffrey MaoJ 1 Reply Last reply Reply Quote 0
                        • Jeffrey MaoJ
                          Jeffrey Mao @Moderator
                          last edited by

                          @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

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

                            @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

                            1 Reply Last reply Reply Quote 0
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