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    modifying voxl-mapper

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    • 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
      '

      1 Reply Last reply Reply Quote 0
      • ?
        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!
            1 Reply Last reply Reply Quote 0
            • 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.

                  1 Reply Last reply Reply Quote 0
                  • 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!
                            1 Reply Last reply Reply Quote 0
                            • 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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