Voxl-mapper on VOXL2
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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
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@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.
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@Jgaucin Are you on SDK 1.0?
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@tom No, currently on SDK 0.9.5 I haven't flashed it yet for the new SDK update
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@Moderator I will update it now and see if it becomes available
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@Tom, is Voxl-mapper working SDK 1.0 yet?
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@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!
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@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 -
@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"
This only shows the following image onto voxl portal and does not construct a map.
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.
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@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 -
@tom nevermind, I got it figured out!
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@Taylor-Presley Could you share how you solved the above error?
Thanks
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@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
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@Zachary-Lowell-0 Does voxl-mapper need a TOF sensor to work properly?
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@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.
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@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.
