VOXL2 HITL Sim with Gazebo in Docker - gazebo/voxl2 communication

garret

Good afternoon,

I am a new user trying to setup a HITL simulation with gazebo for a standard VTOL. I did the bootcamp from the documentation and then followed VOXL PX4 steps from here: https://docs.modalai.com/voxl-px4/

In short, I get the following when run qshell dsp-hitl status

As far as I understand, my J18 port is not receiving data from gazebo. I am using out of the box MCBL-00091-1 USB to Serial UART Cable from ModalAI, so I hope the chord is not an issue.

Some of the troubleshooting that I have done:

checking output from:
xhost +
docker run --rm -it --net=host --privileged -e DISPLAY=$DISPLAY -v /dev/input:/dev/input:rw -v /tmp/.X11-unix:/tmp/.X11-unix:ro voxl-gazebo-docker ./run_gazebo.bash

Since my /ttyUSB0 is recognized, I assume gazebo is trying to send the data to the voxl2 board.

As for my services, I have the following:

px4 and qvio are disabled by default and mavlink is running.

trying to adjust latency via:

echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer

===================================
none of the above produced favorable outcome. I was thinking of trying to set this up via old method in "Archivede instructions" from here: https://docs.modalai.com/voxl2-PX4-hitl/. however, i am using ubuntu 22.04 and as far as I understand gazebo classic is no longer supported on this version. hence, my only option is to use the docker. if anyone has any idea how I can troubleshoot further - it would be much appreciated.

garret

@garret Note: this is my physical setup
Untitled drawing.png
Untitled drawing(1).png

Eric Katzfey

@garret I use the Sparkfun CAB-12977 and CAB-17240 for HITL and it works really well.