# modifying voxl-mapper

Source: https://forum.modalai.com/topic/1177/modifying-voxl-mapper
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-08-02 15:20:43 UTC by howard
Replies: 15 · Views: 7141

## howard · 2022-08-02 15:20:43 UTC

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

## Reply by Guest · 2022-08-02 16:11:06 UTC

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?

## Reply by howard · 2022-08-11 15:04:52 UTC (in reply to Guest)

@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!

## Reply by Guest · 2022-08-11 16:19:18 UTC

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.

## Reply by howard · 2022-08-11 17:05:43 UTC (in reply to Guest)

@Matthew-Booker ![Screenshot_20220811-222954_WhatsApp.png](https://forum.modalai.com/assets/uploads/files/1660237331175-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 ?

## Reply by Guest · 2022-08-11 17:22:49 UTC

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```

## Reply by Nishkala · 2022-08-12 08:11:13 UTC

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::Layer<voxblox::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::Layer<voxblox::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
'

## Reply by Guest · 2022-08-12 17:17:10 UTC

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

## Reply by Arjun Jain · 2022-08-14 12:25:21 UTC (in reply to Guest)

@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!

## Reply by Arjun Jain · 2022-08-15 11:41:46 UTC (in reply to Guest)

@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

## Reply by Guest · 2022-08-15 16:25:10 UTC

@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.

## Reply by Nishkala · 2022-08-16 06:32:53 UTC (in reply to Arjun Jain)

@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
'

## Reply by Guest · 2022-08-16 17:03:32 UTC (in reply to Nishkala)

@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```

## Reply by Nishkala · 2022-08-17 07:12:07 UTC (in reply to Arjun Jain)

@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?

## Reply by Guest · 2022-08-17 16:36:18 UTC

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```

## Reply by Nishkala · 2022-08-18 08:47:18 UTC (in reply to Guest)

@Matthew-Booker 
This worked! Thank you