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    • Lynn KoudsiL
      Lynn Koudsi @modaltb
      last edited by Lynn Koudsi

      Hi @modaltb,

      I'm getting the exact same problem with the same parameter settings. I tried running voxl-vision-px4 -o and I was seeing no messages when attempting to switch to position control. I'm also not seeing any Odometry section in MAVLink Inspector.

      I'm seeing no errors when running voxl-vision-px4 as a service or in command line.

      1 Reply Last reply Reply Quote 0
      • modaltbM
        modaltb ModalAI Team
        last edited by

        Hi @Lynn-Koudsi ,

        Hmmm, this one is confusing me a bit, if you're available maybe we could setup a screen share on Monday to troubleshoot? I'm be available 8:15-10:00, 12-2 and 4-5 PST, or Tuesday anytime after 8:15 AM PST.

        Thanks!!

        Lynn KoudsiL 1 Reply Last reply Reply Quote 0
        • Lynn KoudsiL
          Lynn Koudsi @modaltb
          last edited by

          @modaltb 12-2 works!

          Also just for more context, I had done a clean image installation at V3.1.0 and had removed my data folder. I'm thinking the issue is that calibration files are not there. I tried running voxl-cam-ros but it's not finding left and right yaml files. I tried just pushing the sample calibration files from https://gitlab.com/voxl-public/utilities/voxl-camera-calibration but it won't find ost.yaml.
          So I guess my question is, is there a default data folder available online? Or can you provide the default factory data folder?

          Thanks!

          1 Reply Last reply Reply Quote 0
          • modaltbM
            modaltb ModalAI Team
            last edited by

            Just sent out an invite for tomorrow, if I can get the SN of the m500 I can get you the calibration files we have in our production database in advance and that might get things going!

            Lynn KoudsiL 1 Reply Last reply Reply Quote 0
            • Lynn KoudsiL
              Lynn Koudsi @modaltb
              last edited by

              @modaltb Thank you!

              Serial# is M20000000TJ

              1 Reply Last reply Reply Quote 0
              • LipingL
                Liping
                last edited by

                Hi @modaltb

                I'm getting the same problem as described by Lynn. I had also done a clean image installation at V3.1.0 and had removed my data folder.

                yocto:~# voxl-vision-px4 -o
                loading our own config file
                =================================================================
                Parameters as loaded from config file:
                qgc_ip:                     192.168.43.84
                en_localhost_mavlink_udp    1
                en_secondary_qgc:           0
                secondary_qgc_ip:           192.168.1.214
                qgc_udp_port_number:        14550
                localhost_udp_port_number:  14551
                en_vio:                     1
                en_voa:                     0
                en_send_vio_to_qgc:         0
                en_send_voa_to_qgc:         0
                en_adsb:                    1
                adsb_uart_bus:              7
                adsb_uart_baudrate:         57600
                px4_uart_bus:               5
                px4_uart_baudrate:          921600
                offboard_mode:              off
                follow_tag_id:              0
                en_apriltag_fixed_frame:    0
                fixed_frame_filter_len:     5
                en_transform_mavlink_pos_setpoints_from_fixed_frame:0
                =================================================================
                loading extrinsics and apriltag external config files
                #0:
                    tag id:          0
                    name:            default_name
                    location:        fixed
                    size_m:            0.400
                    T_tag_wrt_fixed: 0.0  0.0  0.0 
                    R_tag_to_fixed:  0.0 -1.0  0.0 
                                     1.0  0.0  0.0 
                                     0.0  0.0  1.0 
                #1:
                    tag id:          1
                    name:            default_name
                    location:        fixed
                    size_m:            0.400
                    T_tag_wrt_fixed: 0.0  0.0  0.0 
                    R_tag_to_fixed:  0.0 -1.0  0.0 
                                     1.0  0.0  0.0 
                                     0.0  0.0  1.0 
                loaded in 2 fixed apriltags
                #0:
                    parent:                imu1
                    child:                 imu0
                    T_child_wrt_parent:   -0.048   0.037   0.002 
                    RPY_parent_to_child:   0.0     0.0     0.0  
                    R_child_to_parent:     1.000  -0.000   0.000 
                                           0.000   1.000  -0.000 
                                           0.000   0.000   1.000 
                #1:
                    parent:                imu0
                    child:                 tracking
                    T_child_wrt_parent:    0.065  -0.014   0.013 
                    RPY_parent_to_child:   0.0    45.0    90.0  
                    R_child_to_parent:     0.000  -0.707   0.707 
                                           1.000   0.000  -0.000 
                                          -0.000   0.707   0.707 
                #2:
                    parent:                imu1
                    child:                 tracking
                    T_child_wrt_parent:    0.017   0.015   0.013 
                    RPY_parent_to_child:   0.0    45.0    90.0  
                    R_child_to_parent:     0.000  -0.707   0.707 
                                           1.000   0.000  -0.000 
                                          -0.000   0.707   0.707 
                #3:
                    parent:                body
                    child:                 imu0
                    T_child_wrt_parent:    0.020   0.014  -0.008 
                    RPY_parent_to_child:   0.0     0.0     0.0  
                    R_child_to_parent:     1.000  -0.000   0.000 
                                           0.000   1.000  -0.000 
                                           0.000   0.000   1.000 
                #4:
                    parent:                body
                    child:                 imu1
                    T_child_wrt_parent:    0.068  -0.015  -0.008 
                    RPY_parent_to_child:   0.0     0.0     0.0  
                    R_child_to_parent:     1.000  -0.000   0.000 
                                           0.000   1.000  -0.000 
                                           0.000   0.000   1.000 
                #5:
                    parent:                body
                    child:                 stereo_l
                    T_child_wrt_parent:    0.100  -0.040   0.000 
                    RPY_parent_to_child:   0.0    90.0    90.0  
                    R_child_to_parent:     0.000  -0.000   1.000 
                                           1.000   0.000  -0.000 
                                          -0.000   1.000   0.000 
                #6:
                    parent:                body
                    child:                 tof
                    T_child_wrt_parent:    0.100   0.000   0.000 
                    RPY_parent_to_child:   0.0    90.0    90.0  
                    R_child_to_parent:     0.000  -0.000   1.000 
                                           1.000   0.000  -0.000 
                                          -0.000   1.000   0.000 
                #7:
                    parent:                body
                    child:                 ground
                    T_child_wrt_parent:    0.000   0.000   0.100 
                    RPY_parent_to_child:   0.0     0.0     0.0  
                    R_child_to_parent:     1.000  -0.000   0.000 
                                           0.000   1.000  -0.000 
                                           0.000   0.000   1.000 
                exising instance of voxl-vision-px4 found, attempting to stop it
                starting geometry module
                starting uart mavlink
                Successfully opened mavparser
                starting udp mavlink
                Detected PX4 Mavlink SYSID 1
                Adding manual QGC IP address to udp connection list: 192.168.43.84
                Added new UDP connection to 192.168.43.84
                starting px4 shell
                starting fixed pose input
                starting vio manager
                starting apriltag manager
                starting adsb manager
                ADSB thread starting
                Init complete, entering main loop
                PX4 Connected over UART with sysid 1
                
                
                

                But when I run 'voxl-test-vision-lib -o' I can see the VIO works.

                ...
                [6619.210687] SNAV INFO: IMU sensor finished initializing.
                [6619.211066] SNAV INFO: IMU sensor settings retrieved.
                [6619.211122] SNAV INFO: Creating IMU thread.
                [6619.211332] SNAV INFO: Creating VISLAM processing thread.
                [6619.211463] SNAV INFO: ImuManager thread has tid = 3558, nice = -15
                [6619.211483] SNAV INFO: Creating VISLAM publishing thread.
                [6619.211768] SNAV INFO: VISLAM publishing thread has tid = 3560, nice = -5
                VIO camera frame: points:  0 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                [6619.211958] SNAV INFO: VISLAM processing thread has tid = 3559, nice = -5
                VIO camera frame: points:  0 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points:  0 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points:  0 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points:  0 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points:  0 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points: 39 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points: 39 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points: 39 X:  0.000 Y:  0.000 Z:  0.000 R:  0.000 P: -0.000 Y:  0.000
                VIO camera frame: points: 39 X: -0.000 Y:  0.000 Z: -0.000 R: -0.000 P: -0.000 Y: -0.000
                VIO camera frame: points: 39 X: -0.000 Y:  0.000 Z:  0.000 R: -0.000 P:  0.000 Y: -0.000
                VIO camera frame: points: 39 X: -0.000 Y:  0.001 Z:  0.000 R: -0.001 P: -0.000 Y: -0.000
                VIO camera frame: points: 39 X: -0.001 Y: -0.002 Z: -0.005 R:  0.001 P: -0.001 Y: -0.000
                VIO camera frame: points: 39 X:  0.000 Y: -0.000 Z: -0.008 R:  0.000 P: -0.001 Y: -0.001
                VIO camera frame: points: 39 X: -0.000 Y: -0.001 Z: -0.010 R:  0.001 P: -0.002 Y: -0.001
                VIO camera frame: points: 39 X: -0.000 Y: -0.000 Z: -0.014 R:  0.002 P: -0.003 Y: -0.001
                VIO camera frame: points: 39 X:  0.002 Y:  0.002 Z: -0.019 R:  0.001 P: -0.003 Y: -0.002
                VIO camera frame: points: 39 X:  0.003 Y:  0.002 Z: -0.022 R:  0.001 P: -0.004 Y: -0.002
                VIO camera frame: points: 39 X:  0.004 Y:  0.002 Z: -0.023 R:  0.001 P: -0.004 Y: -0.001
                VIO camera frame: points: 39 X:  0.004 Y:  0.001 Z: -0.020 R:  0.001 P: -0.004 Y: -0.001
                VIO camera frame: points: 39 X:  0.002 Y:  0.001 Z: -0.015 R:  0.001 P: -0.004 Y: -0.001
                

                In QGroundControl, I can not see the ODOMETRY section in the MAVLink inspector.

                My serial # M20000005GT

                Lynn KoudsiL 1 Reply Last reply Reply Quote 0
                • Lynn KoudsiL
                  Lynn Koudsi @Liping
                  last edited by Lynn Koudsi

                  @Liping My issue was resolved by installing voxl-qvio. You can reference the diagram here to learn what services are needed for the different interactions.

                  LipingL 1 Reply Last reply Reply Quote 0
                  • LipingL
                    Liping @Lynn Koudsi
                    last edited by

                    @Lynn-Koudsi Thanks Lynn. But in my case, the issue still exists after installing the voxl-qvio.

                    What are your installed voxl package versions?

                    I installed some latest stable version packages.

                    yocto:~#  opkg list-installed | grep "voxl"
                    libvoxl_io - 0.5.4
                    voxl-cam-manager - 0.2.2
                    voxl-docker-support - 1.1.1
                    voxl-hal3-tof-cam-ros - 0.0.2
                    voxl-modem - 0.10.0
                    voxl-mpa-tools - 0.1.6
                    voxl-nodes - 0.0.8
                    voxl-qvio-server - 0.2.1
                    voxl-rtsp - 1.0.2
                    voxl-time-sync - 0.0.1
                    voxl-utils - 0.5.2
                    voxl-vision-px4 - 0.8.1
                    voxl-vpn - 0.0.2
                    voxl_imu - 0.0.4
                    
                    Lynn KoudsiL 1 Reply Last reply Reply Quote 0
                    • Lynn KoudsiL
                      Lynn Koudsi @Liping
                      last edited by

                      @Liping Is voxl-qvio actually running? You can check by calling systemctl status voxl-qvio-server it might be that you need calibration files for the tracking camera

                      LipingL 1 Reply Last reply Reply Quote 0
                      • LipingL
                        Liping @Lynn Koudsi
                        last edited by

                        @Lynn-Koudsi It shows waiting for imu and camera. Could you help to point out where is the calibration file located? Is it this calibration process (https://docs.modalai.com/calibrate-cameras/) that you refer to?

                        yocto:~# systemctl status voxl-qvio-server 
                        
                        ā— voxl-qvio-server.service - voxl-qvio-server
                           Loaded: loaded (/usr/bin/voxl-qvio-server; disabled; vendor preset: enabled)
                           Active: active (running) since Mon 2021-03-08 15:13:41 UTC; 7min ago
                         Main PID: 3199 (voxl-qvio-serve)
                           CGroup: /system.slice/voxl-qvio-server.service
                                   └─3199 /usr/bin/voxl-qvio-server
                        
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: LNX_8096 supported? 1
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: LNX_IA64 supported? 1
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: WINDOWS supported? 0
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: AR ERROR: arFileOpen(): Failed to open file: //vislam/Configuration.SF.xml
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: FASTCV: fcvAvailableHardware Linux
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: mempool cur block size 307200, new block size 307200
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: Please ignore the error about Configuration.SF.xml above. ^^^
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: It's an optional file, and should be a warning not an error
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: waiting for imu
                        Mar 08 15:13:42 apq8096 voxl-qvio-server[3199]: waiting for cam
                        

                        Before, I was using the following two command to set the configuration file:

                        voxl-configure-vision-px4
                        voxl-configure-modalai-vl
                        
                        Lynn KoudsiL 1 Reply Last reply Reply Quote 0
                        • Lynn KoudsiL
                          Lynn Koudsi @Liping
                          last edited by Lynn Koudsi

                          @Liping that's a curious problem... try checking the status of the imu and camera servers:
                          systemctl status voxl-camera-server
                          systemctl status voxl-imu-server

                          If you check the status of voxl-qvio again, does it say it failed? or it waits forever?

                          You should have the following calibration files:

                          etc/snav/calibration.stereo.xml
                          home/root/.ros/camera_info/left.yaml
                          home/root/.ros/camera_info/right.yaml
                          etc/snav/calibration.downward.xml
                          home/root/.ros/camera_info/downward.yaml
                          

                          But I'm pretty sure you're going to need

                          /data/modalai/opencv_stereo_intrinsics.yml
                          /data/modalai/opencv_stereo_extrinsics.yml
                          

                          I got those by running the calibration process you referenced.

                          Lynn KoudsiL 1 Reply Last reply Reply Quote 0
                          • Lynn KoudsiL
                            Lynn Koudsi @Lynn Koudsi
                            last edited by

                            @Liping I just realized that you don't have voxl-camera-server installed. You will need that. I also found that having both voxl-camera-server and voxl-cam-manager has given me some issues so I would recommend uninstalling voxl-cam-manager

                            Lynn KoudsiL LipingL 2 Replies Last reply Reply Quote 0
                            • Lynn KoudsiL
                              Lynn Koudsi @Lynn Koudsi
                              last edited by

                              @Liping I'm also curious as to where you got voxl_imu from... I don't think I've ever seen that. The correct package is voxl-imu-server and you can find it here. You would have to uninstall voxl_imu

                              1 Reply Last reply Reply Quote 0
                              • LipingL
                                Liping @Lynn Koudsi
                                last edited by

                                @Lynn-Koudsi Thanks a lot! The issue has been solved. The QGroundControl shows meaningful ODOMETRY data now. As you mentioned, the issue comes from the voxl-camera-server and voxl-imu-server. voxl-qvio can not get data from both the camera and the imu.

                                Besides, I noticed that the configuration of the camera and imu does not work as expected. It may be caused by the conflict of the old (imp_app, voxl-cam-manager)and new (voxl-camera-server, voxl-imu-server) camera and imu ipk.

                                To make it simple, I flashed the image with the System Image 3.2.0 (https://developer.modalai.com/asset/eula-download/64) without installing the voxl-suite, since I want to use the new Modal Pipe Architecture (https://gitlab.com/voxl-public/modal-pipe-architecture).

                                I manually installed the following voxl packages:

                                yocto:/#  opkg list-installed | grep "libmodal"
                                libmodal_json - 0.3.4
                                libmodal_pipe - 1.7.6
                                
                                yocto:/#  opkg list-installed | grep "voxl"
                                libvoxl_io - 0.5.4
                                voxl-camera-server - 0.5.5
                                voxl-dfs-server - 0.0.7
                                voxl-docker-support - 1.1.1
                                voxl-imu-server - 0.7.8
                                voxl-mpa-tools - 0.1.6
                                voxl-qvio-server - 0.2.1
                                voxl-utils - 0.5.9
                                voxl-vision-px4 - 0.8.1
                                

                                Then I run the configuration commands for the qvio, voxl-vision-px4 and camera (voxl-imu-server has done some default configuration during the ipk installation):

                                yocto:/# voxl-configure-qvio -f
                                rm: cannot remove '/etc/modalai/voxl-qvio-server.conf': No such file or directory
                                loading qvio config file
                                Creating new config file: /etc/modalai/voxl-qvio-server.conf
                                The config file was modified during parsing, saving the changes to disk
                                enabling voxl-qvio-server systemd service
                                Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-qvio-server.service to /etc/systemd/system/voxl-qvio-server.service.
                                starting voxl-qvio-server systemd service
                                Done configuring voxl-qvio-server
                                
                                
                                yocto:/# voxl-configure-vision-px4 -f
                                rm: cannot remove '/etc/modalai/voxl-vision-px4.conf': No such file or directory
                                Created new empty json file: /etc/modalai/voxl-vision-px4.conf
                                The JSON config file data was modified during parsing, saving the changes to disk
                                enabling voxl-vision-px4 systemd service
                                Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-vision-px4.service to /etc/systemd/system/voxl-vision-px4.service.
                                starting voxl-vision-px4 systemd service
                                DONE configuring voxl-vision-px4
                                
                                
                                yocto:/# voxl-configure-cameras
                                ...
                                

                                Regarding the configuration of the camera, i was following the guidance in https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-camera-server to use the command voxl-configure-cameras provided by voxl-utils package.

                                I rebooted the VOXL and checked related services (camera, imu, qvio, voxl-vision-px4) using

                                systemctl status
                                

                                But I noticed that the voxl-camera-server was not automaticly started on boot.
                                So I enabled it with:

                                yocto:/# systemctl enable voxl-camera-server
                                

                                @modaltb Please correct me if any step was not right or there is a better way.

                                In addition, I also followed the https://forum.modalai.com/topic/70/warning-px4-disconnected-error-message-from-voxl-vision-px4 to solve the WARNING PX4 DISCONNECTED error message from voxl-vision-px4

                                1 Reply Last reply Reply Quote 0
                                • modaltbM
                                  modaltb ModalAI Team
                                  last edited by

                                  WOW! Thanks @Lynn-Koudsi for the help, when we setup the forum this is the kind of interaction we were hoping for, just awesome!!

                                  Sorry for the setup and 'wonkyness' right now, we've been somewhat caught with getting pre-release software out there without all the setup/docs lined up.... so we're doing a little catchup it seems.

                                  @Liping there until we have our docs updated, if this is working, I'd say this is a good approach!

                                  Thank you both for the details, we'll relay this through the team.

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