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    VVPX4 Deployment to VOXL depedencies

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    • ICI
      IC
      last edited by

      Hi,

      I've been trying to deploy VVPX4 and see some dependencies. I am using the VOXL Platform 3.8.0-0.7 and VOXL-Cross-2.1 docker image.

      voxl-vision-px4-master $./deploy_to_voxl.sh 
      searching for ADB device
      checking VOXL for dpkg/opkg
      opkg detected
      voxl-vision-px4_1.2.0.ipk: 1 file pushed. 3.4 MB/s (105362 bytes in 0.029s)
      Reinstalling voxl-vision-px4 (1.2.0) on root.
      Configuring voxl-vision-px4.
      Collected errors:
       * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
       * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
      DONE
      

      Maybe I have to build the following in a specific directory but I am not sure which one:

      $ mkdir cross-workspace
      $ cd cross-workspace
      $ voxl-docker -i voxl-cross:V1.9
      voxl-cross:~$ git clone https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
      voxl-cross:~$ cd libmodal-json/
      voxl-cross:~$ ./build.sh qrb5165
      

      Can I install or source these two dependencies separately?

      1 Reply Last reply Reply Quote 0
      • modaltbM
        modaltb ModalAI Team
        last edited by

        Yes you could, or you can install via our package management feed. Here's the two packages from there from SDK 0.8:

        http://voxl-packages.modalai.com/dists/apq8096/sdk-0.8/binary-arm64/libmodal-cv_0.1.0.ipk
        http://voxl-packages.modalai.com/dists/apq8096/sdk-0.8/binary-arm64/libmodal-pipe_2.4.0.ipk

        Depending on your setup, you could also install the VOXL-SDK fully and then modify parts you need from source. More info here: https://docs.modalai.com/voxl-sdk/

        Package management on VOXL1 here: https://docs.modalai.com/configure-pkg-manager/

        1 Reply Last reply Reply Quote 0
        • ICI
          IC
          last edited by

          Thank you @modaltb.

          I'm having trouble deploying VVPX4 to to VOXL. The dependencies not being satisfied are being installed so I'm not sure what to do.

          Here is what I'm doing:

          voxl-cross:~$ ./install_build_deps.sh apq8096 staging 
          using apq8096 staging repo
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//Packages.gz.
          Updated source 'staging'.
          installing: 
          libmodal-json
          libmodal-pipe
          librc-math
          libmodal-cv
          voxl-mpa-tools
          voxl-mavlink
          Installing libmodal-json (0.4.2) on root.
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-json_0.4.2.ipk.
          Configuring libmodal-json.
          Installing libmodal-pipe (2.4.0) on root.
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-pipe_2.4.0.ipk.
          Configuring libmodal-pipe.
          Installing librc-math (1.1.8) on root.
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//librc-math_1.1.8.ipk.
          Configuring librc-math.
          Installing libmodal-cv (0.1.0) on root.
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-cv_0.1.0.ipk.
          Configuring libmodal-cv.
          Installing voxl-mpa-tools (0.7.2) on root.
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//voxl-mpa-tools_0.7.2.ipk.
          Configuring voxl-mpa-tools.
          Installing voxl-mavlink (0.1.0) on root.
          Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//voxl-mavlink_0.1.0.ipk.
          Configuring voxl-mavlink.
          
          Done installing dependencies
          
          voxl-cross:~$ ./build.sh apq8096 
          -- The C compiler identification is GNU 4.9.3
          -- The CXX compiler identification is GNU 4.9.3
          -- Detecting C compiler ABI info
          -- Detecting C compiler ABI info - done
          -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 - skipped
          -- Detecting C compile features
          -- Detecting C compile features - done
          -- Detecting CXX compiler ABI info
          -- Detecting CXX compiler ABI info - done
          -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 - skipped
          -- Detecting CXX compile features
          -- Detecting CXX compile features - done
          -- Building for platform APQ8096
          -- Configuring done
          -- Generating done
          -- Build files have been written to: /home/root/build64
          [  3%] Building C object utils/CMakeFiles/voxl-px4-shell.dir/voxl-px4-shell.c.o
          [ 11%] Building C object src/CMakeFiles/voxl-vision-px4.dir/geometry.c.o
          [ 11%] Building C object src/CMakeFiles/voxl-vision-px4.dir/config_file.c.o
          [ 15%] Building C object src/CMakeFiles/voxl-vision-px4.dir/control_input.c.o
          [ 23%] Building C object utils/CMakeFiles/voxl-calibrate-px4-horizon.dir/voxl-calibrate-px4-horizon.c.o
          [ 26%] Building C object src/CMakeFiles/voxl-vision-px4.dir/fixed_pose_input.c.o
          [ 23%] Building C object src/CMakeFiles/voxl-vision-px4.dir/horizon_cal.c.o
          [ 30%] Building C object src/CMakeFiles/voxl-vision-px4.dir/main.c.o
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/src/config_file.c:34:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          In file included from /home/root/utils/voxl-px4-shell.c:39:0:
          /usr/aarch64-linux-gnu-2.23/include/string.h:649:1: warning: no previous declaration for '__mempcpy_inline' [-Wmissing-declarations]
           __mempcpy_inline (void *__restrict __dest,
           ^
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/utils/voxl-calibrate-px4-horizon.c:34:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/src/main.c:34:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          [ 34%] Linking C executable voxl-calibrate-px4-horizon
          [ 38%] Linking C executable voxl-px4-shell
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/src/geometry.c:34:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          [ 38%] Built target voxl-calibrate-px4-horizon
          [ 42%] Building C object src/CMakeFiles/voxl-vision-px4.dir/misc.c.o
          [ 42%] Built target voxl-px4-shell
          [ 46%] Building C object src/CMakeFiles/voxl-vision-px4.dir/obs_pc_filter.c.o
          [ 50%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_figure_eight.c.o
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/src/obs_pc_filter.c:34:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          [ 53%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_follow_tag.c.o
          [ 57%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_mode.c.o
          [ 61%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_trajectory.c.o
          [ 65%] Building C object src/CMakeFiles/voxl-vision-px4.dir/pose_filter.c.o
          [ 69%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_mavlink.c.o
          [ 73%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_monitor.c.o
          [ 76%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_shell.c.o
          [ 80%] Building C object src/CMakeFiles/voxl-vision-px4.dir/tag_manager.c.o
          [ 84%] Building C object src/CMakeFiles/voxl-vision-px4.dir/transform_ringbuf.c.o
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/src/transform_ringbuf.c:19:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          [ 88%] Building C object src/CMakeFiles/voxl-vision-px4.dir/udp_mavlink.c.o
          [ 92%] Building C object src/CMakeFiles/voxl-vision-px4.dir/vio_manager.c.o
          In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                           from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                           from /home/root/src/udp_mavlink.c:34:
          /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
           __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
                  ^
          /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
           #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                                     ^
          [ 96%] Building C object src/CMakeFiles/voxl-vision-px4.dir/voa_manager.c.o
          [100%] Linking C executable voxl-vision-px4
          [100%] Built target voxl-vision-px4
          voxl-cross:~$ ./make_package.sh ipk 
          Package Name:  voxl-vision-px4
          version Number:  1.2.0
          Consolidate compiler generated dependencies of target voxl-vision-px4
          [ 84%] Built target voxl-vision-px4
          Consolidate compiler generated dependencies of target voxl-px4-shell
          [ 92%] Built target voxl-px4-shell
          Consolidate compiler generated dependencies of target voxl-calibrate-px4-horizon
          [100%] Built target voxl-calibrate-px4-horizon
          Install the project...
          -- Install configuration: ""
          -- Installing: ../pkg/data/usr/bin/voxl-vision-px4
          -- Installing: ../pkg/data/usr/include/voxl_vision_px4.h
          -- Installing: ../pkg/data/usr/bin/voxl-px4-shell
          -- Installing: ../pkg/data/usr/bin/voxl-calibrate-px4-horizon
          /home/root
          starting building IPK package
          ar: creating voxl-vision-px4_1.2.0.ipk
          DONE
          voxl-cross:~$ logout
          voxl-vision-px4-master $./deploy_to_voxl.sh adb
          searching for ADB device
          checking VOXL for dpkg/opkg
          opkg detected
          voxl-vision-px4_1.2.0.ipk: 1 file pushed. 8.6 MB/s (105382 bytes in 0.012s)
          Reinstalling voxl-vision-px4 (1.2.0) on root.
          Configuring voxl-vision-px4.
          Collected errors:
           * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
           * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
          DONE
          
          

          After this, the package I am trying to deploy isn't on VOXL and the voxl-vision-px4 is enabled but not running.

          Any pointers to what I may be missing?

          1 Reply Last reply Reply Quote 0
          • ?
            A Former User
            last edited by

            Hi,

            The install build deps script installs the dependencies to your docker image for building, not onto the voxl. If you're building packages with recent dependencies you'll need to update your voxl with opkg update to make sure it has the latest dependencies.

            ICI 1 Reply Last reply Reply Quote 0
            • ICI
              IC @Guest
              last edited by

              @Alex-Gardner Got it. Thank you!

              1 Reply Last reply Reply Quote 0
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