Voxl-mapper on VOXL2
-
@Tom, is Voxl-mapper working SDK 1.0 yet?
-
@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!
-
@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.
-
@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!
-
@Taylor-Presley Could you share how you solved the above error?
Thanks
-
@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
-
@Zachary-Lowell-0 Does voxl-mapper need a TOF sensor to work properly?
-
@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.
-
@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.
