# "Plan to a point" not working Source: https://forum.modalai.com/topic/1321/plan-to-a-point-not-working Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2022-09-13 08:09:28 UTC by darwin.keem Replies: 4 · Views: 1026 ## darwin.keem · 2022-09-13 08:09:28 UTC 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. ## Reply by Guest · 2022-09-13 16:23:22 UTC 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? ## Reply by darwin.keem · 2022-09-14 01:40:07 UTC Hi @Matt-Turi, output of `apt list --installed | grep voxl` is listed below. ```bash 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. ```shell 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. ```shell 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? ```shell 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. ## Reply by darwin.keem · 2022-09-14 09:58:50 UTC Additionaly, the `Follow Path` button doesn't shows up on the GUI of voxl-portal. ## Reply by Guest · 2022-09-14 16:18:16 UTC @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.