modifying voxl-mapper

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!

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

@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.

Nishkala

@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
'

@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

Nishkala

@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?

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

Nishkala

This post is deleted!

Nishkala

@Matthew-Booker
This worked! Thank you

Nishkala

This post is deleted!