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    voxl-configure-cameras

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    • K
      Kris
      last edited by Kris 23 Aug 2022, 17:30 23 Aug 2022, 16:37

      Hello, I hope everyone is having a great day.

      For some reason I am not able to access my camera configurations anymore.
      I started experiencing this issue after I updated my voxl version.
      I can send the #7 configuration (tof + stereo + tracking) to voxl as an argument, but I am still not able to get any config IDs.
      My qvio is working properly. I can also inspect the tof with no issues either.
      In Rviz, all my cameras are working expect for my tof cam (of course my stereo cameras are upsidedown).

      Is this because of the updates I perfomed?

      Voxl-configure-cameras.png

      voxl-inspect-tof
      voxl-inspect-tof.png

      voxl-services-information.png

      Maybe I am just missing an ipk package. Just not sure which one.

      1 Reply Last reply Reply Quote 0
      • ?
        A Former User
        last edited by 23 Aug 2022, 17:30

        Hi,

        We removed the camera information in the bash environment since we moved away from having ros access the camera api and instead use camera server, which mpa-to-ros pull frames from and then publishes to ros. If you want to view the configuration generated by configure cameras you can see the config file at /etc/modalai/voxl-camera-server.conf.

        As for your rviz issue, I flashed a fresh 3.8.0-0.7 on my board, ran configure cameras and mpa-to-ros, and was able to successfully see all of my cameras (tracking, stereo, tof):

        voxl:/$ voxl-configure-cameras 7 
        attempting to use camera configuration 7
        making new backup of /system/etc/camera/camera_config.xml
        making symlink for tracking upright 8-bit
        making symlink for stereo upright 8-bit
        Writing new configuration to /etc/modalai/voxl-camera-server.conf
        enabling and starting voxl-camera-server
        Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-camera-server.service to /etc/systemd/system/voxl-camera-server.service.
        Done Configuring Cameras
        voxl:/$ roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch 
        ... logging to /home/root/.ros/log/d0187e08-2306-11ed-bd4e-ec5c68cd23bd/roslaunch-apq8096-4488.log
        Checking log directory for disk usage. This may take awhile.
        Press Ctrl-C to interrupt
        Done checking log file disk usage. Usage is <1GB.
        
        started roslaunch server http://192.168.1.58:50554/
        
        SUMMARY
        ========
        
        PARAMETERS
         * /rosdistro: indigo
         * /rosversion: 1.11.21
        
        NODES
          /
            voxl_mpa_to_ros_node (voxl_mpa_to_ros/voxl_mpa_to_ros_node)
        
        auto-starting new master
        process[master]: started with pid [4507]
        ROS_MASTER_URI=http://192.168.1.58:11311/
        
        setting /run_id to d0187e08-2306-11ed-bd4e-ec5c68cd23bd
        process[rosout-1]: started with pid [4520]
        started core service [/rosout]
        process[voxl_mpa_to_ros_node-2]: started with pid [4523]
        
        
        MPA to ROS app is now running
        
        Found new interface: stereo
        Found new interface: tof_conf
        Found new interface: tof_depth
        Found new interface: tof_ir
        Found new interface: tof_noise
        Found new interface: tracking
        Found new interface: tof_pc
        

        Do you have anything else in you setup that could be causing the tof camera to not work?

        K 1 Reply Last reply 23 Aug 2022, 17:49 Reply Quote 0
        • K
          Kris @Guest
          last edited by Kris 23 Aug 2022, 17:49 23 Aug 2022, 17:49

          Hi @Alex-Gardner,
          Thank you for your help.
          I am not sure what it could be. I thought that it might be something I am missing. Is there any way for me to find out?

          voxl-configure-cameras 7.png

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          • ?
            A Former User
            last edited by 23 Aug 2022, 18:01

            That looks right, can you see any of the tof data? We're publishing 4 "images" that will show up like other camera frames (depth, noise, confidence, IR) alongside the full pointcloud. Are you able to pull up any of the debug images or is nothing coming through?

            K 3 Replies Last reply 23 Aug 2022, 18:06 Reply Quote 0
            • K
              Kris @Guest
              last edited by Kris 23 Aug 2022, 18:16 23 Aug 2022, 18:06

              No, I am not able to pull up any images for my tof. I can pull up the tof data (voxl-inspect-tof) and nothing seems wrong there......
              depth is working, as I am able to run the voxl-inspect-tof and move my hand in front of the tof sensor, and see the depth meter changing.

              1 Reply Last reply Reply Quote 0
              • K
                Kris @Guest
                last edited by Kris 23 Aug 2022, 18:41 23 Aug 2022, 18:27

                Is there a SLAM or localization node that I am missing? In Rviz am not able to change the fixed frame from [map] to [world].

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                • K
                  Kris @Guest
                  last edited by Kris 23 Aug 2022, 19:36 23 Aug 2022, 19:35

                  @Alex-Gardner In Rviz, I was able to change the fixed frame from [map] to [world] by running

                  rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map world 5
                  

                  from a new terminal after I ran rviz.

                  The TOF is still not being recognized.

                  My stereo cameras are still upside down, I dont really know how to make them upright. In my previous build I was able to run

                  voxl-configure-cameras
                  

                  and select the #7 build with the option to rotate the stereo cameras.
                  In this new build, this is not possible.

                  Rviz.png

                  1 Reply Last reply Reply Quote 0
                  • ?
                    A Former User
                    last edited by 25 Aug 2022, 17:13

                    The rotate_stereo option is still there as a command line argument, we've just removed the wizard. If you run the script with the --help flag you can see the examples of how to do this.

                    K 1 Reply Last reply 29 Aug 2022, 14:28 Reply Quote 0
                    • K
                      Kris @Guest
                      last edited by 29 Aug 2022, 14:28

                      @Alex-Gardner Thank you! That worked 👍

                      1 Reply Last reply Reply Quote 0
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