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    modifying voxl-mapper

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    • ?
      A Former User
      last edited by

      Hi Howard,

      So the issue here is you've built ceres-solver for the native architecture which would mean that if you are running voxl-cross on your own desktop it built ceres-solver for your desktops architecture. In any case we have our own ceres-solver which you can install. Could you post the results of running cat /etc/opkg/opkg.conf on your VOXL?

      Also just a heads up that I should have mentioned earlier. In about a week or two there will be a major update to voxl-mapper which should bring a lot of improvements but will change a lot of things.

      H 1 Reply Last reply Reply Quote 0
      • H
        howard @Guest
        last edited by

        @Matthew-Booker Screenshot_20220811-222954_WhatsApp.png
        This is the output on voxl cross.but on voxl2 we couldn't run the command for opkg.
        Can you please tell the equivalent command for voxl 2 ?

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        • ?
          A Former User
          last edited by

          This post is deleted!
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          • ?
            A Former User
            last edited by A Former User

            Can I double check. Did you run ./install_build_deps.sh before trying to build?

            If building for a VOXL 2 the full command would be ./install_build_deps.sh qrb5165 stable

            1 Reply Last reply Reply Quote 0
            • N
              Nishkala
              last edited by Nishkala

              If we are building it for voxlcam, what should be used?

              If we use ./install_build_deps.sh apq8096 stable, we get the error,
              '-- Configuring done
              -- Generating done
              -- Build files have been written to: /home/root/voxlcam_mapper/voxl-mapper/build64
              Consolidate compiler generated dependencies of target mav_trajectory_generation
              [ 25%] Built target mav_trajectory_generation
              Consolidate compiler generated dependencies of target mav_planning_common
              [ 36%] Built target mav_planning_common
              Consolidate compiler generated dependencies of target voxblox_planning_common
              Consolidate compiler generated dependencies of target mav_path_smoothing
              [ 44%] Built target voxblox_planning_common
              [ 58%] Built target mav_path_smoothing
              Consolidate compiler generated dependencies of target voxblox_loco_planner
              [ 69%] Built target voxblox_loco_planner
              Consolidate compiler generated dependencies of target mav_local_planner
              [ 77%] Built target mav_local_planner
              Consolidate compiler generated dependencies of target voxl-mapper
              [ 80%] Building CXX object server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o
              /home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc: In member function 'virtual bool voxblox::TsdfServer::loadMap(std::string, std::string)':
              /home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc:1164:54: error: 'class voxblox::Layervoxblox::TsdfVoxel' has no member named 'loadBlocksFromFile'
              bool tsdf_loaded = tsdf_map_->getTsdfLayerPtr()->loadBlocksFromFile(
              ^
              /home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc:1172:54: error: 'class voxblox::Layervoxblox::EsdfVoxel' has no member named 'loadBlocksFromFile'
              bool esdf_loaded = esdf_map_->getEsdfLayerPtr()->loadBlocksFromFile(
              ^
              server/voxl-mapper/CMakeFiles/voxl-mapper.dir/build.make:159: recipe for target 'server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o' failed
              make[2]: *** [server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o] Error 1
              CMakeFiles/Makefile2:398: recipe for target 'server/voxl-mapper/CMakeFiles/voxl-mapper.dir/all' failed
              make[1]: *** [server/voxl-mapper/CMakeFiles/voxl-mapper.dir/all] Error 2
              Makefile:135: recipe for target 'all' failed
              make: *** [all] Error 2
              '

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              • ?
                A Former User
                last edited by

                @Nishkala you can instead use ./install_build_deps.sh apq8096 sdk-0.8

                Arjun JainA 3 Replies Last reply Reply Quote 0
                • Arjun JainA
                  Arjun Jain @Guest
                  last edited by

                  This post is deleted!
                  Arjun JainA 1 Reply Last reply Reply Quote 0
                  • Arjun JainA
                    Arjun Jain @Arjun Jain
                    last edited by

                    This post is deleted!
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                    • Arjun JainA
                      Arjun Jain @Guest
                      last edited by

                      @Matthew-Booker Thanks a lot!

                      What works for me is:

                      voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./install_build_deps.sh apq8096 sdk-0.8
                      voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./build.sh apq8096
                      voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./make_package.sh ipk
                      scp voxl-mapper_0.0.7.ipk root@10.0.1.10:

                      On voxl 1 board, I added arm64 7 to /etc/opkg/arch.conf
                      voxl:~$ voxl-configure-opkg dev
                      opkg install --force-reinstall --force-downgrade --force-depends --force-overwrite voxl-mapper_0.0.7.ipk

                      Then everything seems to work so far!

                      N 2 Replies Last reply Reply Quote 0
                      • Arjun JainA
                        Arjun Jain @Guest
                        last edited by

                        @Matthew-Booker However, when I try to save the mesh from the portal, in my compiled version, I get this symbol not found error. Any ideas why it can not find this function and how to fix it? Many thanks in advance.

                        skipped 2 point clouds
                        WARNING bytes left in tof point cloud pipe
                        skipped 3 point clouds
                        skipped 1 point clouds
                        voxl-mapper: symbol lookup error: voxl-mapper: undefined symbol: _ZNK7voxblox5LayerINS_9TsdfVoxelEE10saveToFileESsb
                        Fault address: 0x7f60053888
                        Access to this address is not allowed.
                        Segmentation fault

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                        • ?
                          A Former User
                          last edited by

                          @Arjun-Jain Looks like a mismatch in the voxl-voxblox version. Since you've already configured opkg you should just be able to run opkg install voxl-voxblox and it should work.

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                          • N
                            Nishkala @Arjun Jain
                            last edited by Nishkala

                            @Matthew-Booker How to do the same on voxl2

                            I tried the below commands
                            voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./install_build_deps.sh apq8096 sdk-0.8
                            voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./build.sh apq8096
                            voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./make_package.sh
                            voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./deploy_to_voxl.sh

                            On the voxl2 board
                            voxl2:/$ voxl-configure-pkg-manager
                            Chose sdk 0.8
                            voxl2:/$ apt update
                            voxl2:/$ voxl-mapper

                            I got the below error
                            '
                            Loading our own config file
                            Loading extrinsics config file
                            Trying to init tsdf server
                            terminate called after throwing an instance of 'std::bad_alloc'
                            what(): std::bad_alloc
                            Aborted
                            '

                            ? 1 Reply Last reply Reply Quote 0
                            • ?
                              A Former User @Nishkala
                              last edited by

                              @Nishkala When you build for voxl2 you need to use qrb5165 not apq8096 so the full command would be:
                              ./install_build_deps.sh qrb5165 sdk-0.8
                              ./build.sh qrb5165
                              ./make_package.sh

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                              • N
                                Nishkala @Arjun Jain
                                last edited by

                                @Matthew-Booker
                                I ran the below commands on voxl cross:
                                ./install_build_deps.sh qrb5165 sdk-0.8
                                ./build.sh qrb5165
                                ./make_package.sh
                                ./deploy_to_voxl.sh

                                I ran voxl-mapper after this on the board and got the error 'voxl-mapper: symbol lookup error: voxl-mapper: undefined symbol: _ZNK7voxblox5LayerINS_9EsdfVoxelEE10saveToFileENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEb
                                '

                                I wanted to add arm64 to /etc/opkg/arch.conf but voxl2 uses apt. How to solve the above issue?

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                                • ?
                                  A Former User
                                  last edited by

                                  That error occurs when theres a voxl-voxblox version mismatch. The version of voxl-voxblox on your voxl2 is older. On your voxl2 if you run the following it should update

                                  apt install voxl-voxblox

                                  N 2 Replies Last reply Reply Quote 0
                                  • N
                                    Nishkala @Guest
                                    last edited by

                                    This post is deleted!
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                                    • N
                                      Nishkala @Guest
                                      last edited by

                                      @Matthew-Booker
                                      This worked! Thank you

                                      1 Reply Last reply Reply Quote 0
                                      • N
                                        Nishkala
                                        last edited by Nishkala

                                        This post is deleted!
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