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modifying voxl-mapper

  • H

    Hello team,
    We wanted to modify the source code of voxl-mapper to send z coordinate. We have changed the code and now we would like to build it. We tried building it using voxl-cross but we got the following error

    CMakeFiles/Makefile2:340: recipe for target 'server/voxblox_loco_planner/CMakeFiles/voxblox_loco_planner.dir/all' failed
make[1]: *** [server/voxblox_loco_planner/CMakeFiles/voxblox_loco_planner.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2

    Do we need to use voxl-emulator or something?can you please help us with this.
    thank you

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  • Matthew Booker

    Hi Howard,

    The error occurs further up in the text. Without it I'm not sure what the issue is. Please could you post a more complete image of the error?

    0 H 2 Replies
  • H

    This post is deleted!
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  • H

    This post is deleted!
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  • H

    @Matthew-Booker
    Sorry for being late, we were trying to build the package again on voxl cross,
    We got the following error,
    https://docs.google.com/document/d/1C1fZl-i5CzY3OUXER0KUOl3I6TGEhlw1XSsiebbMCr4/edit?usp=drivesdk
    After analysis we felt that ceres server package was missing hence we installed it using the instructions provided on the ceres server page. https://ceres-solver.org/installation.html
    We even customised the build by using tye command

    cmake -DCMAKE_CXX_FLAGS="-march=native" /home/root/ceres-solver

    After running make install as seen in above link
    We noticed that the libceres.a file was in /usr/local/bin and not in /usr/lib64
    Hence we copied libceres.a file to usr/lib64 but we ended up getting the following error, '/usr/lib64/libceres.a: error adding symbols: file in wrong format'
    The scenario can be seen in the below document.

    https://docs.google.com/document/d/1Q_5aam02v79-E3MosS6sw1BJ_0q3x1HUCCt_twu33Ao/edit?usp=drivesdk

    Please help us in solving the error
    Thanks!

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  • Matthew Booker

    Hi Howard,

    So the issue here is you've built ceres-solver for the native architecture which would mean that if you are running voxl-cross on your own desktop it built ceres-solver for your desktops architecture. In any case we have our own ceres-solver which you can install. Could you post the results of running cat /etc/opkg/opkg.conf on your VOXL?

    Also just a heads up that I should have mentioned earlier. In about a week or two there will be a major update to voxl-mapper which should bring a lot of improvements but will change a lot of things.

    0 H 1 Reply
  • H

    @Matthew-Booker Screenshot_20220811-222954_WhatsApp.png
    This is the output on voxl cross.but on voxl2 we couldn't run the command for opkg.
    Can you please tell the equivalent command for voxl 2 ?

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  • Matthew Booker

    This post is deleted!
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  • Matthew Booker

    Can I double check. Did you run ./install_build_deps.sh before trying to build?

    If building for a VOXL 2 the full command would be ./install_build_deps.sh qrb5165 stable

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  • N

    If we are building it for voxlcam, what should be used?

    If we use ./install_build_deps.sh apq8096 stable, we get the error,
    '-- Configuring done
    -- Generating done
    -- Build files have been written to: /home/root/voxlcam_mapper/voxl-mapper/build64
    Consolidate compiler generated dependencies of target mav_trajectory_generation
    [ 25%] Built target mav_trajectory_generation
    Consolidate compiler generated dependencies of target mav_planning_common
    [ 36%] Built target mav_planning_common
    Consolidate compiler generated dependencies of target voxblox_planning_common
    Consolidate compiler generated dependencies of target mav_path_smoothing
    [ 44%] Built target voxblox_planning_common
    [ 58%] Built target mav_path_smoothing
    Consolidate compiler generated dependencies of target voxblox_loco_planner
    [ 69%] Built target voxblox_loco_planner
    Consolidate compiler generated dependencies of target mav_local_planner
    [ 77%] Built target mav_local_planner
    Consolidate compiler generated dependencies of target voxl-mapper
    [ 80%] Building CXX object server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o
    /home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc: In member function 'virtual bool voxblox::TsdfServer::loadMap(std::string, std::string)':
    /home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc:1164:54: error: 'class voxblox::Layervoxblox::TsdfVoxel' has no member named 'loadBlocksFromFile'
    bool tsdf_loaded = tsdf_map_->getTsdfLayerPtr()->loadBlocksFromFile(
    ^
    /home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc:1172:54: error: 'class voxblox::Layervoxblox::EsdfVoxel' has no member named 'loadBlocksFromFile'
    bool esdf_loaded = esdf_map_->getEsdfLayerPtr()->loadBlocksFromFile(
    ^
    server/voxl-mapper/CMakeFiles/voxl-mapper.dir/build.make:159: recipe for target 'server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o' failed
    make[2]: *** [server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o] Error 1
    CMakeFiles/Makefile2:398: recipe for target 'server/voxl-mapper/CMakeFiles/voxl-mapper.dir/all' failed
    make[1]: *** [server/voxl-mapper/CMakeFiles/voxl-mapper.dir/all] Error 2
    Makefile:135: recipe for target 'all' failed
    make: *** [all] Error 2
    '

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  • Matthew Booker

    @Nishkala you can instead use ./install_build_deps.sh apq8096 sdk-0.8

    0 Arjun Jain 3 Replies
  • Arjun Jain

    This post is deleted!
    0 Arjun Jain 1 Reply
  • Arjun Jain

    This post is deleted!
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  • Arjun Jain

    @Matthew-Booker Thanks a lot!

    What works for me is:

    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./install_build_deps.sh apq8096 sdk-0.8
    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./build.sh apq8096
    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./make_package.sh ipk
    scp voxl-mapper_0.0.7.ipk root@10.0.1.10:

    On voxl 1 board, I added arm64 7 to /etc/opkg/arch.conf
    voxl:~$ voxl-configure-opkg dev
    opkg install --force-reinstall --force-downgrade --force-depends --force-overwrite voxl-mapper_0.0.7.ipk

    Then everything seems to work so far!

    0 N 2 Replies
  • Arjun Jain

    @Matthew-Booker However, when I try to save the mesh from the portal, in my compiled version, I get this symbol not found error. Any ideas why it can not find this function and how to fix it? Many thanks in advance.

    skipped 2 point clouds
    WARNING bytes left in tof point cloud pipe
    skipped 3 point clouds
    skipped 1 point clouds
    voxl-mapper: symbol lookup error: voxl-mapper: undefined symbol: _ZNK7voxblox5LayerINS_9TsdfVoxelEE10saveToFileESsb
    Fault address: 0x7f60053888
    Access to this address is not allowed.
    Segmentation fault

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  • Matthew Booker

    @Arjun-Jain Looks like a mismatch in the voxl-voxblox version. Since you've already configured opkg you should just be able to run opkg install voxl-voxblox and it should work.

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  • N

    @Matthew-Booker How to do the same on voxl2

    I tried the below commands
    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./install_build_deps.sh apq8096 sdk-0.8
    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./build.sh apq8096
    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./make_package.sh
    voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./deploy_to_voxl.sh

    On the voxl2 board
    voxl2:/$ voxl-configure-pkg-manager
    Chose sdk 0.8
    voxl2:/$ apt update
    voxl2:/$ voxl-mapper

    I got the below error
    '
    Loading our own config file
    Loading extrinsics config file
    Trying to init tsdf server
    terminate called after throwing an instance of 'std::bad_alloc'
    what(): std::bad_alloc
    Aborted
    '

    0 Matthew Booker 1 Reply
  • Matthew Booker

    @Nishkala When you build for voxl2 you need to use qrb5165 not apq8096 so the full command would be:
    ./install_build_deps.sh qrb5165 sdk-0.8
    ./build.sh qrb5165
    ./make_package.sh

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  • N

    @Matthew-Booker
    I ran the below commands on voxl cross:
    ./install_build_deps.sh qrb5165 sdk-0.8
    ./build.sh qrb5165
    ./make_package.sh
    ./deploy_to_voxl.sh

    I ran voxl-mapper after this on the board and got the error 'voxl-mapper: symbol lookup error: voxl-mapper: undefined symbol: _ZNK7voxblox5LayerINS_9EsdfVoxelEE10saveToFileENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEb
    '

    I wanted to add arm64 to /etc/opkg/arch.conf but voxl2 uses apt. How to solve the above issue?

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  • Matthew Booker

    That error occurs when theres a voxl-voxblox version mismatch. The version of voxl-voxblox on your voxl2 is older. On your voxl2 if you run the following it should update

    apt install voxl-voxblox

    0 N 2 Replies
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