modifying voxl-mapper

[howard]

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

[A Former User]

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?

[howard]

This post is deleted!

[howard]

This post is deleted!

[howard]

@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.

Page Not Found

Web word processing, presentations and spreadsheets

(docs.google.com)

Please help us in solving the error
Thanks!

[A Former User]

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.

[howard]

@Matthew-Booker
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 ?

[A Former User]

This post is deleted!

[A Former User]

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

[Nishkala]

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
'

[A Former User]

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

[Arjun Jain]

This post is deleted!

[Arjun Jain]

This post is deleted!

[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

[A Former User]

@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
'

[A Former User]

@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?

[A Former User]

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