Integrating lidar sensor
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Hi,
we have recently purchased a Starling 2 Max and we plan to put on a light-weight lidar sensor livox mid 360 on top of it. We would like to know if it is possible to connect the sensor to the voxl board through ethernet to receive the data and also run our ROS1 nodes for localization? We intend to replace the onboard state estimation system with our developed lidar-based solution.
Hi, can some support answer this question?
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Hi, can some support answer this question?
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@Muqing-Cao We haven't used this sensor before but if you use an ethernet to USB adapter, you should be able to get a network connection to the sensor from VOXL 2
@tom Thanks for your reply. Following up with some more details: i believe you mean connecting to the usb-c connector at the side of the the voxl2 board?
If we want to use the lidar-based odometry to replace the onboard qvio, what should we do? Should we inject the estimation into PX4 using MAVROS? -
@tom Thanks for your reply. Following up with some more details: i believe you mean connecting to the usb-c connector at the side of the the voxl2 board?
If we want to use the lidar-based odometry to replace the onboard qvio, what should we do? Should we inject the estimation into PX4 using MAVROS?@Muqing-Cao No you'd likely want to use an add-on board, this would be the cheapest option to give you a USB-A connector that you could attach a USB to ethernet adapter: https://www.modalai.com/products/m0141?variant=46829445513520
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@Muqing-Cao No you'd likely want to use an add-on board, this would be the cheapest option to give you a USB-A connector that you could attach a USB to ethernet adapter: https://www.modalai.com/products/m0141?variant=46829445513520
@tom I see. which port on the voxl 2 should i connect this board to? I wonder if this port has been already occupied on the starling 2 max drone.
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@tom I see. which port on the voxl 2 should i connect this board to? I wonder if this port has been already occupied on the starling 2 max drone.
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@Muqing-Cao On Starling 2 there is likely a wifi dongle in that port
@tom Ah... So what is your recommendation in this case? We need both wifi and connection to a ethernet device.
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@tom Ah... So what is your recommendation in this case? We need both wifi and connection to a ethernet device.
@Muqing-Cao If you don't want a bulky USB hub on there you can use a different add-on board like this one: https://www.modalai.com/products/m0130-3?variant=48186331693360
it has 1 USB 3.0 and 2 USB 2.0 ports
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@Muqing-Cao If you don't want a bulky USB hub on there you can use a different add-on board like this one: https://www.modalai.com/products/m0130-3?variant=48186331693360
it has 1 USB 3.0 and 2 USB 2.0 ports
@tom I see thanks. How about this one: https://www.modalai.com/products/m0062-2?srsltid=AfmBOoq_b52cK1R5X-8pluAer7oqq-BJb2Y1E2yUVsF2lFkwMl7mAFo2
It already has a usb and ethernet port, which seems to be more ideal for my case. Can it be fitted to starling 2 max without causing other issues? -
@tom I see thanks. How about this one: https://www.modalai.com/products/m0062-2?srsltid=AfmBOoq_b52cK1R5X-8pluAer7oqq-BJb2Y1E2yUVsF2lFkwMl7mAFo2
It already has a usb and ethernet port, which seems to be more ideal for my case. Can it be fitted to starling 2 max without causing other issues? -
@Muqing-Cao Yes that would work as well
@tom Thanks. I will get one of that.
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise. -
@tom Thanks. I will get one of that.
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.@Muqing-Cao said in Integrating lidar sensor:
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.
Please help advise on this question, thanks
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@Muqing-Cao said in Integrating lidar sensor:
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.
Please help advise on this question, thanks
@Muqing-Cao Did you get this working? I was able to get state estimation with the Mid360 through MAVROS, but am now thinking about getting some LiDAR and camera vision fusion for a more robust approach.
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