SLAM and voxl-mapper video details

[frafrat]

Hi,

I am very interested in your recent youtube video and wanted to know more about the hardware/software details.

• 1 - Which hardware platform are you using? Is that the Sentinel embedding the VOXL2? Are those results possible using the VOXL1?

• 2 - Which sensor are you using? Are you using the cameras on the VOXL to create a point cloud or a time of flight sensor as well? Would just a tof sensor be enough to create a map and navigate into it as you show in the video?

• 3 - Can you link me to any resources or detailed instructions that I can use to install all the software you run in this demo so that I can reproduce it in my office? In particular, if using a camera to generate the point cloud, which piece of code are you running to do that?

Thank you very much

[A Former User]

Hi @frafrat,

In the video, we are using a VOXL1 equipped with our tof sensor. The map shown was created purely from the tof, but you could also use other depth inputs like depth from stereo if that is not an option.

Our docs page here https://docs.modalai.com/voxl-mapper/ serves as a basic user guide, and you can check out the code for mapper here https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/tree/dev.

The code showcased in the video is not yet on our stable package repos, but voxl-mapper / voxl-portal + all dependencies can be directly installed via opkg or apt depending on your platform after configuring to install from the dev branch via:
voxl-configure-pkg-manager dev

[frafrat]

Hi @Matt-Turi and thank you for your very quick reply.

I am definitely implementing this on the VOXL1 by following your links and thanks again for that.

Furthermore, do you know if such capability will be available for VOXL2? We are still waiting for the code instruction to install the tof sensors on the VOXL2. Do you know when that would be released?

Thanks

[modaltb]

@frafrat ,

Our next platform release will add ToF support for VOXL2 and we'll get some user guides posted when we push a release. We're trying to have this out in the next few weeks... my timelines are typically optimistic, but the tech parts are in place and functioning

[frafrat]

@modaltb, @Matt-Turi,

any news on the release of the ToF installation for VOXL2? Even a beta version with little instructions on how to install it will be great. Really hope to have this feature soon and thank you very much for your hard work.

Best,

[ahmed-mustahid]

@modaltb @Matt-Turi Would you let me know what voxl-mapper config file you have been using to generate the map in the How a Drone Navigates Autonomously with SLAM and voxl-mapper
youtube video?

[modaltb]

@frafrat there's a little "preview" info here https://docs.modalai.com/voxl2-camera-configs/#time-of-flight-tof....

The system image that supports ToF on VOXL 2 is in test now (and working), we'll have it online likely in the next week as a beta release

[frafrat]

@modaltb, @Matt-Turi,

can you guys share a timeline for the beta release of the system image that supports ToF on VOXL 2? It has been weeks now that I am checking the website every day but still can't see the release. Thanks a lot for your time

[A Former User]

@frafrat the release is now available here: https://developer.modalai.com/categories

[frafrat]

@Matt-Turi thank you very much. Really appreciate your help