Hi @teddy-zaremba,

The fusing part was a bit tricky, but it works now.
Thank you!

@greg_s Just pinged our support team, they're taking a look at it now

@Daniel-Rincon have you looked through the troubleshooting guide? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

Usually looking at the ovins-overlay in voxl-portal offers good insight

The common issues are vibration is too high, the extrinsics are incorrect or there are not enough features to track in the environment

@Jing-Yu This is the tof camera - the ring around it rotates. I'd watch the output on voxl-portal for TOF-IR as you're rotating it to see if it has any impact.

3bf8773e-3633-49e3-b911-ee060a6a5dd4-image.png

I am having the exact same issue, if by any chance you see this @lakbit can you let me know if you found a solution since this thread?

@tom thank you for your assistance. I'll do that.

@VictorG
Sorry, the previous post wasn't clear 😊
The flight core 2 is capable to receive SBUS or DSMX protocols. So if your FlySky receiver is capable to output SBUS than you can use it

@tom said in Missing Config File:

voxl-configure-vision-hub factory_enable

thanks. I tried the Sku Wizard then MPA but I seem to still have a blank file when I open it in nano. I will try the factory default next.

@Peter-Milani
However, I am on vacation for a week starting in a few hours.
So, I will get to the review the week of 8/4 when I return (just to set expectations).
Thanks!

No new progress in the last few days. Do you have any idea what the issue might be @Alex-Kushleyev ?

Hi @Roya-Salehzadeh,

Yep, the points showing up in voxl_mapper_aligned_ptcloud are static (ie. not tied to the vehicle's current pose)

I've never tried to do that so I'm not 100% sure but recording the points with a ros2 bag seems like a reasonable approach

3a. I'm not sure why you would need to do any transformation to plot the data on RViz. Voxl-mapper already does transformations to put the data in a static frame of reference. If you're only seeing it as a live stream this is probably because it's playing one message one after the other. I'm not sure but there might be a setting in RViz to ignore the timestamps or you could potentially do something like set all the timestamps to 1.

3b. Voxl-mapper uses the tof data to generate the map. What are you trying to do by visualizing the tof data?

3c. For visualizing the path I'm not sure if you would need to do transformations or not. This is the line that digests the pose data in voxl-portal. After a little investigating it seems like the /world might be the correct frame_id.

If it were me, I'd start by getting the accumulated map on RViz then plot the odometry inside that map with the /world frame_id and then check if you need to do any additional transformations.

@brahim what're your thoughts on the RViz frame_id for odometry?

Let me know if that helps,
Ted

@tonygurney , yes.

Please see the comment about pin availability and pin numbers here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl-esc-pwm.py?ref_type=heads#L17

Please note that running voxl-esc-pwm.py script will use the serial port and cannot be done concurrently with PX4. This is a standalone tool, unlike voxl-send-esc-pwm-cmd tool, which sends a message to voxl-px4 and the pwm control message is then forwarded to the ESC by the voxl_esc px4 driver.

Alex

Hi @taiwohazeez,

That is the cable that powers the VOXL. I'm suggesting you leave that plugged in and disconnect everything else. I see you still have the VOXL 2 WiFi Add-on board connected. Disconnect that as well all the cameras on the bottom of the VOXL, ESC, and GPS.

Please have the VOXL powered off while you disconnect everything.

Let me know how it goes,
Ted

@drones-mexico In order to have the C28 camera config function properly you'll need to flash a different kernel on your voxl2, is that something you tried?

@tom @teddy-zaremba can you assist please? This is pretty urgent, I need to get this fixed. Also, the landing gears got broken, and I can't seem to be able to order new parts from the official website, is there a way I can go about it?
Looking forward to your response.
Thanks

Hi @Judoor-0,

Cool! Feel free to make a MR or post the link to your code if you want someone to review it.

@Jeffrey-Mao Hello Jeffery, We are currently working on implementing SLAM for the Starling 2 platform. Our initial approach involved using the available ROS 2 topics provided by voxl_mpa_to_ros2, installing standard SLAM packages, and using RViz for visualization. However, we've encountered a major issue: most of the topics do not have a frame_id defined, and there is no existing transform (TF) tree that can be used with RViz.

So far, we've only been able to visualize the tof_pc (Time-of-Flight point cloud) data. To do this, we had to manually publish a static transform between the TOF frame (which is named world) and map. However, in this setup, the drone's location does not update dynamically. To address this, we're considering writing a transformation node to define the relationships between coordinate frames (e.g., map, odom, base_link, tof, etc.). However, developing this from scratch is proving to be time-consuming and error-prone.

I also noticed that you were able to generate a map using voxl-mapper and et the map in ROS2 with the mpa_ros2 interface. This could be a much more efficient path for us to pursue. Could you please explain in detail:

What exact steps you followed to export the map using voxl-mapper?

Is it possible to regenerate or update the map in real-time in RViz, or export it to another visualization tool?

Thanks