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    • 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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