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    modifying voxl-mapper

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    • H
      howard
      last edited by 11 Aug 2022, 13:55

      This post is deleted!
      1 Reply Last reply Reply Quote 0
      • H
        howard @Guest
        last edited by 11 Aug 2022, 15:04

        @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!

        1 Reply Last reply Reply Quote 0
        • ?
          A Former User
          last edited by 11 Aug 2022, 16:19

          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.

          H 1 Reply Last reply 11 Aug 2022, 17:05 Reply Quote 0
          • H
            howard @Guest
            last edited by 11 Aug 2022, 17:05

            @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 ?

            1 Reply Last reply Reply Quote 0
            • ?
              A Former User
              last edited by 11 Aug 2022, 17:20

              This post is deleted!
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              • ?
                A Former User
                last edited by A Former User 11 Aug 2022, 18:19 11 Aug 2022, 17:22

                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

                1 Reply Last reply Reply Quote 0
                • N
                  Nishkala
                  last edited by Nishkala 12 Aug 2022, 08:18 12 Aug 2022, 08:11

                  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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                  • ?
                    A Former User
                    last edited by 12 Aug 2022, 17:17

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

                    A 3 Replies Last reply 13 Aug 2022, 07:58 Reply Quote 0
                    • A
                      Arjun Jain @Guest
                      last edited by 13 Aug 2022, 07:58

                      This post is deleted!
                      A 1 Reply Last reply 14 Aug 2022, 11:51 Reply Quote 0
                      • A
                        Arjun Jain @Arjun Jain
                        last edited by 14 Aug 2022, 11:51

                        This post is deleted!
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                        • A
                          Arjun Jain @Guest
                          last edited by 14 Aug 2022, 12:25

                          @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!

                          N 2 Replies Last reply 16 Aug 2022, 06:32 Reply Quote 0
                          • A
                            Arjun Jain @Guest
                            last edited by 15 Aug 2022, 11:41

                            @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

                            1 Reply Last reply Reply Quote 0
                            • ?
                              A Former User
                              last edited by 15 Aug 2022, 16:25

                              @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
                                Nishkala @Arjun Jain
                                last edited by Nishkala 16 Aug 2022, 06:33 16 Aug 2022, 06:32

                                @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
                                '

                                ? 1 Reply Last reply 16 Aug 2022, 17:03 Reply Quote 0
                                • ?
                                  A Former User @Nishkala
                                  last edited by 16 Aug 2022, 17:03

                                  @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

                                  1 Reply Last reply Reply Quote 0
                                  • N
                                    Nishkala @Arjun Jain
                                    last edited by 17 Aug 2022, 07:12

                                    @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?

                                    1 Reply Last reply Reply Quote 0
                                    • ?
                                      A Former User
                                      last edited by 17 Aug 2022, 16:36

                                      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

                                      N 2 Replies Last reply 17 Aug 2022, 21:27 Reply Quote 0
                                      • N
                                        Nishkala @Guest
                                        last edited by 17 Aug 2022, 21:27

                                        This post is deleted!
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                                        • N
                                          Nishkala @Guest
                                          last edited by 18 Aug 2022, 08:47

                                          @Matthew-Booker
                                          This worked! Thank you

                                          1 Reply Last reply Reply Quote 0
                                          • N
                                            Nishkala
                                            last edited by Nishkala 19 Aug 2022, 14:45 19 Aug 2022, 14:44

                                            This post is deleted!
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