# Read Point Cloud Data by ROS (voxl-dfs-server, voxl_mpa_to_ros, MV SDK)

Source: https://forum.modalai.com/topic/161/read-point-cloud-data-by-ros-voxl-dfs-server-voxl_mpa_to_ros-mv-sdk
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-03-18 16:12:43 UTC by Liping
Replies: 0 · Views: 529

## Liping · 2021-03-18 16:12:43 UTC

Hi
Do you plan to include the interface for voxl-dfs-server in the voxl_mpa_to_ros?

![7a5c73d4-70aa-440d-995c-aea4e63feca4-image.png](https://forum.modalai.com/assets/uploads/files/1616081513652-7a5c73d4-70aa-440d-995c-aea4e63feca4-image.png) 

----
On the other hand, I try to use the voxl-camera-server + voxl_mpa_to_ros + dfs_ros_example(https://github.com/ATLFlight/dfs-ros-example) to get the point cloud data for ROS.

The dfs_ros_example requires mvDFS.h. Therefore MV SDK needs to be installed. For your info, I'm developing ROS applications in a docker container deployed on VOXL. 
But I met the following issure: 
```
root@apq8096:~/yoctohome# dpkg -i mv_1.2.13_8x74.deb 
dpkg: error processing archive mv_1.2.13_8x74.deb (--install):
 package architecture (armhf) does not match system (arm64)
Errors were encountered while processing:
 mv_1.2.13_8x74.deb
```

However, I can see the MV SDK is preinstalled when I flash the system image 3.2.0.
![2f992d85-4389-4b23-81a1-d766353c9a54-image.png](https://forum.modalai.com/assets/uploads/files/1616083778654-2f992d85-4389-4b23-81a1-d766353c9a54-image.png) 
How do you manage to install it? I want to install it again in the docker container.

----

My current environment:
System Image 3.2.0   + Docker(Ubuntu18.04, ROS melodic)
```
yocto:~# opkg list-installed | grep "libmodal"
libmodal_json - 0.3.4
libmodal_pipe - 1.7.9
yocto:~# opkg list-installed | grep "voxl"
libvoxl_io - 0.5.4
voxl-camera-server - 0.5.5
voxl-dfs-server - 0.0.7
voxl-docker-support - 1.1.1
voxl-imu-server - 0.7.8
voxl-mpa-tools - 0.1.6
voxl-nodes - 0.1.2
voxl-qvio-server - 0.2.1
voxl-streamer - 0.2.1
voxl-utils - 0.5.9
voxl-vision-px4 - 0.8.1
```