(VOXL2 PX4 ROS2) MPA to ROS2 Tag Detection

GlennTee

Hello. I was curious as to how I can get AprilTag detections from the MPA tag-detector service as a ros2 topic?

Zachary Lowell 0

@GlennTee one step ahead of you!

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

Going to be rleased on the next sdk release - if you want it now, feel free to build and install the package.

GlennTee

@Zachary-Lowell-0 Thank you. I just tried to install and build the package (I wasn't sure in what location to put it in in Voxl2 so I put it in /home/root) and this happened:

I'm not exactly sure where to obtain the missing nlohmann_json library. I tried doing "sudo apt install nlohmann-json3-dev," but had no luck with this.

Zachary Lowell 0

You should be doing cross compilation for things like this - aka on your computer running voxl-docker -i qrb5165-emulator and then building the debian and flashing to the voxl2.

So what I currently do to build is:

clone mpa to ros2 on your parent computer
cd into repository
run voxl-docker -i qrb5165-emulator:1.5
run ./install_build_deps.sh qrb5165 dev
run ./build.sh qrb5165
run ./make_package.sh

Push via adb or scp the deb from parent computer to voxl2 and then unpackage the deb and source the right directory.

LMK if that helps at all - if you need to install nlohmann json btw you should be doing it via voxl-configure-mpa-to-ros2

Zach

GlennTee

@Zachary-Lowell-0 Thank you, I will try this

GlennTee

@GlennTee Hello again. I attempted to run all of these commands, but I ran into an error on Step 5, which is shown below:

I tried cloning the px4_ros_com package, but that did not help anything. I just also realized I never ran "voxl-configure-mpa-to-ros2" when setting up the SDK v1.4.1, could that be the reason why I'm experiencing so many problems and had to manually install packages I didn't have right off the bat such as Colcon, Eigen3, Netiface, and more? My last question is that do you know when the next SDK release will be out? Thanks again for all your help.

GlennTee

@Zachary-Lowell-0 Hello again. I attempted to run all of these commands, but I ran into an error on Step 5, which is shown below:

I tried cloning the px4_ros_com package, but that did not help anything. I just also realized I never ran "voxl-configure-mpa-to-ros2" when setting up the SDK v1.4.1, could that be the reason why I'm experiencing so many problems and had to manually install packages I didn't have right off the bat such as Colcon, Eigen3, Netiface, and more? My last question is that do you know when the next SDK release will be out? Thanks again for all your help.