VOXL2 ROS2 Starling Code Inconsistencies
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@Zachary-Lowell-0 Any luck recreating this?
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@Zachary-Lowell-0 said in VOXL2 ROS2 Starling Code Inconsistencies:
Hi @GlennTee - will try and recreate this and get back to yuo!
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1 Reply Last reply 10 minutes ago Replyplanning on trying to recreate tomorrow in the AM - have you tested this via HITL at all as well?
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@Zachary-Lowell-0 No, we're novices and trying to just focus on the Starling. HITL, would be a distraction (unless you say differently) from the task at hand.
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@claw no worries - I recorded a loom for you watch - https://www.loom.com/share/409b4b9ca9974d54b534af7020414632 - please give it a gander and lmk if it helps - I have a strong feeling its because there is NOT a sleeper call for a second or two between swapping to offboard and arming the drone.
Also HITL/SITL testing by far and away is the standard to do first before moving to a drone especially with some experimental code - I would heavily emphasize you always debug first in this scenario before moving to the real bird - purely really just for safety reasons. Anyways, please give a watch and let me know!!
Zach
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oh also please ensure you have offboard_figure_8 set to off in voxl-vision-hub.conf in /etc/modalai.
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@Zachary-Lowell-0 Thank you so much, this appears to have fixed it! I'm now able to consistently run and exit the program cleanly.
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@Zachary-Lowell-0 I do have another question: would you happen to know of any resources or examples involving April Tag detection and alignment using the VOXL2 ROS2 PX4 Starling? My goal is to try to use my drone to detect an April Tag, align with it, and land on it. Preferably, I would like to do this in Python if possible.
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I also was wondering if there also a way to read the battery voltage? In my case, I want to be able to read the battery voltage in my code in able to tell the drone to do specific things based on if the voltage is high or low.
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@GlennTee said in VOXL2 ROS2 Starling Code Inconsistencies:
I also was wondering if there also a way to read the battery voltage? In my case, I want to be able to read the battery voltage in my code in able to tell the drone to do specific things based on if the voltage is high or low.
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@GlennTee on the voxl2 there is a program called
voxl-tag-detectionthat will detect tags in the h36 family. You can also detect battery viavoxl-inspect-battery- the reason I bring these pipes up is because you can leverage them in your ros2 code via C++ nodes. So you can create a node in CPP that will subscribe to these modalAI MPA pipes and then publish the data into a ros2 topic.LMK if that helps - we actually did just merge in a branch of voxl-mpa-to-ros2 that will publish the tag information over a ros2 interface. In theory you can do the same with battery voltage: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/dev/colcon_ws/src/voxl_mpa_to_ros2/src/interfaces/tag_interface.cpp?ref_type=heads
Zach
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@Zachary-Lowell-0 Thank you so much, I will try that out!
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@Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python?
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@claw said in VOXL2 ROS2 Starling Code Inconsistencies:
@Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python?
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@claw yes you can follow this post to get battery over the DDS: https://forum.modalai.com/topic/4353/voxl2-px4-ros2-mpa-to-ros2-for-battery-voltage-problems/12?_=1745355297145
