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    modifying voxl-mapper

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    • H
      howard @Guest
      last edited by Aug 11, 2022, 5:05 PM

      @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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      • ?
        A Former User
        last edited by Aug 11, 2022, 5:20 PM

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        • ?
          A Former User
          last edited by A Former User Aug 11, 2022, 6:19 PM Aug 11, 2022, 5:22 PM

          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 Aug 12, 2022, 8:18 AM Aug 12, 2022, 8:11 AM

            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 Aug 12, 2022, 5:17 PM

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

              A 3 Replies Last reply Aug 13, 2022, 7:58 AM Reply Quote 0
              • A
                Arjun Jain @Guest
                last edited by Aug 13, 2022, 7:58 AM

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

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

                    @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 Aug 16, 2022, 6:32 AM Reply Quote 0
                    • A
                      Arjun Jain @Guest
                      last edited by Aug 15, 2022, 11:41 AM

                      @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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                      • ?
                        A Former User
                        last edited by Aug 15, 2022, 4:25 PM

                        @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 Aug 16, 2022, 6:33 AM Aug 16, 2022, 6:32 AM

                          @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 Aug 16, 2022, 5:03 PM Reply Quote 0
                          • ?
                            A Former User @Nishkala
                            last edited by Aug 16, 2022, 5:03 PM

                            @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
                              Nishkala @Arjun Jain
                              last edited by Aug 17, 2022, 7:12 AM

                              @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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                              • ?
                                A Former User
                                last edited by Aug 17, 2022, 4:36 PM

                                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 Aug 17, 2022, 9:27 PM Reply Quote 0
                                • N
                                  Nishkala @Guest
                                  last edited by Aug 17, 2022, 9:27 PM

                                  This post is deleted!
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                                  • N
                                    Nishkala @Guest
                                    last edited by Aug 18, 2022, 8:47 AM

                                    @Matthew-Booker
                                    This worked! Thank you

                                    1 Reply Last reply Reply Quote 0
                                    • N
                                      Nishkala
                                      last edited by Nishkala Aug 19, 2022, 2:45 PM Aug 19, 2022, 2:44 PM

                                      This post is deleted!
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