"Plan to a point" not working

darwin.keem

Hi,
I am using Sentinel Drone with voxl-portal and voxl-mapper.
We've changed voxl-mapper.conf to work with stereo camera.
However, plan to a point is not working. When we give a point, it generates trajectory, but Sentinel doesn't move at all.
We've changed offboard to trajectory. Is there any solution to it?
Thanks.

Hey @darwin-keem,

Could you please share the output of apt list --installed | grep voxl so we can know which versions you have installed?

Additionally, are you seeing any error messages from voxl-mapper when you try to follow the path?

darwin.keem

Hi @Matt-Turi,
output of apt list --installed | grep voxl is listed below.

voxl2:~$ apt list --installed | grep voxl

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

libvoxl-cutils/unknown,now 0.1.1 arm64 [installed,automatic]
mv-voxl/now 0.1-r0 arm64 [installed,local]
voxl-bind/unknown,now 0.0.1 arm64 [installed,automatic]
voxl-camera-calibration/unknown,now 0.2.2 arm64 [installed,automatic]
voxl-camera-server/unknown,now 1.1.0 arm64 [installed,automatic]
voxl-ceres-solver/unknown,now 1.14.0-7 arm64 [installed,automatic]
voxl-cpu-monitor/unknown,now 0.2.6 arm64 [installed,automatic]
voxl-docker-support/unknown,now 1.2.4 arm64 [installed,automatic]
voxl-jpeg-turbo/unknown,now 2.1.3-4 arm64 [installed,automatic]
voxl-libgphoto2/unknown,now 0.0.4 arm64 [installed,automatic]
voxl-libuvc/unknown,now 1.0.6 arm64 [installed,automatic]
voxl-logger/unknown,now 0.3.2 arm64 [installed,automatic]
voxl-mapper/unknown,now 0.0.7 arm64 [installed]
voxl-mavlink/unknown,now 0.1.0 arm64 [installed,automatic]
voxl-mavlink-server/unknown,now 0.1.3 arm64 [installed,automatic]
voxl-modem/unknown,now 0.16.0 arm64 [installed,automatic]
voxl-mongoose/unknown,now 7.6.0 arm64 [installed,automatic]
voxl-mpa-to-ros/unknown,now 0.3.3 arm64 [installed,automatic]
voxl-mpa-tools/unknown,now 0.7.2 arm64 [installed,automatic]
voxl-nlopt/unknown,now 2.5.0-4 arm64 [installed,automatic]
voxl-opencv/unknown,now 4.5.5-1 arm64 [installed,automatic]
voxl-portal/unknown,now 0.2.8 arm64 [installed]
voxl-px4/unknown,now 1.4.16 arm64 [installed,automatic]
voxl-px4-imu-server/unknown,now 0.1.2 arm64 [installed,automatic]
voxl-qvio-server/unknown,now 0.7.1 arm64 [installed,automatic]
voxl-streamer/unknown,now 0.3.6 arm64 [installed,automatic]
voxl-suite/unknown,now 0.8.1 arm64 [installed]
voxl-tag-detector/unknown,now 0.0.4 arm64 [installed,automatic]
voxl-tflite-server/unknown,now 0.2.7 arm64 [installed,automatic]
voxl-utils/unknown,now 1.1.4 arm64 [installed,automatic]
voxl-uvc-server/unknown,now 0.1.1 arm64 [installed,automatic]
voxl-vision-px4/unknown,now 1.2.0 arm64 [installed,automatic]
voxl-voxblox/unknown,now 1.0.4 arm64 [installed,automatic]
voxl2-system-image/now 1.3.1-r0 arm64 [installed,local]
voxl2-wlan/now 1.0-r0 arm64 [installed,local]

We don't see any error messages from voxl-mapper.

ERROR fetching tf from tf ringbuffer
there wasn't sufficient data in the buffer

This message shows up intermittently, but doesn't seems to effect in mapping function. Message below is the message after using Plan to a point feature.

Client requested slice level update
Client requested slice level update
Client requested slice level update
Client requested slice level update
Client requested plan to location
Using start pose of: x:  -0.08, y:   0.04, z:   0.02
using goal pose of: x:  -1.04, y:   3.00, z:   0.02
Map Bounds:
Lower-> x: -6.40, y: -3.20, z: -3.20
Upper-> x:  6.40, y:  6.40, z:  3.20
Switching to 3D checks

------------------------------------------
TIMING STATS
------------------------------------------
Solve time             ->          1000.01ms
Total time             ->          1000.04ms
Random node grab time  -> Average:   0.00ms, TOT:  48.90ms
Nearest node time      -> Average:   0.01ms, TOT: 508.83ms
Check motion time      -> Average:   0.00ms, TOT: 354.81ms
Neighborhood grab time -> Average:   0.00ms, TOT:   6.05ms
Children update time   -> Average:    nanms, TOT:   0.00ms

------------------------------------------
GENERAL STATS
------------------------------------------
PATH LENGTH:   3.11
ATTEMPTS: 42415
QNEAREST FAILS: 59
RANDOM TO NEAREST FAILS: 39915
PARTIAL SEGMENTS ADDED: 2441
TREE REWIRES: 0
------------------------------------------
RRTSTAR FAILED: Exceeded max iterations. Outputting closest path
Simplifying Path took:   0.07ms
Removed 0 nodes
Collisions along base path-> no
No free constraints set in the vertices. Polynomial can not be optimized. Outputting fully constrained polynomial.
Loco Smooth took: 467.29ms
Success-> yes

However, we found this error in voxl-portal. Would it be the reason of this problem? If so, how can we solve it?

voxl2:/$ voxl-portal
exising instance of voxl-portal found, attempting to stop it
voxl-portal started up
Server providing: battery connected
Server providing: flight_info connected
Server providing: gps connected
Server providing: gps connected
Server providing: flight_info connected
Server providing: battery connected
Server not available


Failed to open pipe: /run/mpa/plan_msgs/


Server providing pose connected
Server providing: costmap connected
Server providing: mesh connected
Server providing: plan connected
Server providing: aligned ptcloud connected

Thanks.

darwin.keem

Additionaly, the Follow Path button doesn't shows up on the GUI of voxl-portal.

@darwin-keem,

It looks like voxl-mapper failed to reach your goal point, resulting in it sending over the partial trajectory it solved for viewing but not giving you the option to follow the path. You can try giving the RRT solver another second or so by increasing the rrt_max_runtime_nanoseconds param, and it should be able to fully plan to your endpoint.

The path generation code has been rewritten and thoroughly optimized in the latest dev package, so if you are still having issues with this planner it may be worth checking out some of the updates on our dev repo.