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

[Liping]

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

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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.

How do you manage to install it? I want to install it again in the docker container.

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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