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    • M
      modaltb ModalAI Team
      last edited by 28 Feb 2021, 01:12

      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!!

      L 1 Reply Last reply 28 Feb 2021, 02:33 Reply Quote 0
      • L
        Lynn Koudsi @modaltb
        last edited by 28 Feb 2021, 02:33

        @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
        • M
          modaltb ModalAI Team
          last edited by 1 Mar 2021, 02:22

          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!

          L 1 Reply Last reply 1 Mar 2021, 02:26 Reply Quote 0
          • L
            Lynn Koudsi @modaltb
            last edited by 1 Mar 2021, 02:26

            @modaltb Thank you!

            Serial# is M20000000TJ

            1 Reply Last reply Reply Quote 0
            • L
              Liping
              last edited by 8 Mar 2021, 14:21

              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

              L 1 Reply Last reply 8 Mar 2021, 14:26 Reply Quote 0
              • L
                Lynn Koudsi @Liping
                last edited by Lynn Koudsi 8 Mar 2021, 14:29 8 Mar 2021, 14:26

                @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.

                L 1 Reply Last reply 8 Mar 2021, 14:48 Reply Quote 0
                • L
                  Liping @Lynn Koudsi
                  last edited by 8 Mar 2021, 14:48

                  @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
                  
                  L 1 Reply Last reply 8 Mar 2021, 15:03 Reply Quote 0
                  • L
                    Lynn Koudsi @Liping
                    last edited by 8 Mar 2021, 15:03

                    @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

                    L 1 Reply Last reply 8 Mar 2021, 15:30 Reply Quote 0
                    • L
                      Liping @Lynn Koudsi
                      last edited by 8 Mar 2021, 15:30

                      @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 
                      
                      ● 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
                      
                      L 1 Reply Last reply 8 Mar 2021, 15:47 Reply Quote 0
                      • L
                        Lynn Koudsi @Liping
                        last edited by Lynn Koudsi 8 Mar 2021, 15:56 8 Mar 2021, 15:47

                        @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.

                        L 1 Reply Last reply 8 Mar 2021, 15:55 Reply Quote 0
                        • L
                          Lynn Koudsi @Lynn Koudsi
                          last edited by 8 Mar 2021, 15:55

                          @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

                          L L 2 Replies Last reply 8 Mar 2021, 15:59 Reply Quote 0
                          • L
                            Lynn Koudsi @Lynn Koudsi
                            last edited by 8 Mar 2021, 15:59

                            @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
                            • L
                              Liping @Lynn Koudsi
                              last edited by 9 Mar 2021, 11:54

                              @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
                              • M
                                modaltb ModalAI Team
                                last edited by 9 Mar 2021, 13:05

                                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.

                                1 Reply Last reply Reply Quote 0
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