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    Obstacle avoidance / Collision prevention is disable in QGroundControl

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    • S
      shlee853
      last edited by

      Hi guys,

      I'm testing flight deck and I'm trying to test object avoidance and collision prevention.

      as you know flight deck sensors, I have hi-resolution camera, stereo vision and tracking camera with default configuration.

      this is my voxl-vision-px4.conf

      {
      "qgc_ip": "192.168.219.182",
      "en_localhost_mavlink_udp": true,
      "en_secondary_qgc": false,
      "secondary_qgc_ip": "192.168.1.214",
      "qgc_udp_port_number": 14550,
      "localhost_udp_port_number": 14551,
      "en_vio": true,
      "en_voa": true,
      "en_send_vio_to_qgc": false,
      "en_send_voa_to_qgc": false,
      "en_adsb": false,
      "adsb_uart_bus": 7,
      "adsb_uart_baudrate": 57600,
      "px4_uart_bus": 5,
      "px4_uart_baudrate": 921600,
      "offboard_mode": "figure_eight",

      "R_imu_to_body":    [[0, 1, 0], [1, 0, 0], [0, 0, -1]],
      "T_imu_wrt_body":   [0.068, -0.015, -0.008],
      "height_body_above_ground_m": 0.05,
      "T_stereo_wrt_body":    [0.10, -0.04, 0.0],
      "land_on_tag_id":   0,
      "follow_tag_id":    0,
      "en_apriltag_fixed_frame":  false,
      "fixed_apriltags":  [{
          "tag_id":   0,
          "R_tag_to_fixed":   [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
          "T_tag_wrt_fixed":  [0, 0, 0]
          }],
      "en_transform_mavlink_pos_setpoints_from_fixed_frame":  true,
      "en_fixed_frame_pipe": false,
      "fixed_frame_filter_len": 5
      

      }

      I already calibrated my stereo vision camera and I found calibration result as below.

      beforecalibration.png
      before calibration

      calibrated.png
      after calibration

      yocto:/# ls /home/root/.ros/camera_info/
      left.yaml right.yaml tracking.yaml

      yocto:/# ls /etc/snav/
      calibration.stereo.xml

      but, when I try to debug stereo mode with voxl-vision-px4, it stop on this.
      I think it's not normal. It sound display cloud point on terminal.
      am I right?

      {
      yocto:/# voxl-vision-px4 -s
      loading our own config file

      Parameters as loaded from config file:
      qgc_ip: 192.168.219.182
      en_localhost_mavlink_udp 1
      en_secondary_qgc: 0
      secondary_qgc_ip: 192.168.1.214
      qgc_udp_port_number: 14550
      localhost_udp_port_number: 14551
      en_vio: 1
      en_voa: 1
      en_send_vio_to_qgc: 0
      en_send_voa_to_qgc: 0
      en_adsb: 0
      adsb_uart_bus: 7
      adsb_uart_baudrate: 57600
      px4_uart_bus: 5
      px4_uart_baudrate: 921600
      offboard_mode: figure_eight
      follow_tag_id: 0
      en_apriltag_fixed_frame: 0
      fixed_frame_filter_len: 5
      en_transform_mavlink_pos_setpoints_from_fixed_frame:1

      loading extrinsics and apriltag external config files
      #0:
      tag id: 0
      name: default_name
      location: fixed
      size_m: 0.400
      T_tag_wrt_fixed: 0.0 0.0 0.0
      R_tag_to_fixed: 0.0 -1.0 0.0
      1.0 0.0 0.0
      0.0 0.0 1.0
      #1:
      tag id: 1
      name: default_name
      location: fixed
      size_m: 0.400
      T_tag_wrt_fixed: 0.0 0.0 0.0
      R_tag_to_fixed: 0.0 -1.0 0.0
      1.0 0.0 0.0
      0.0 0.0 1.0
      loaded in 2 fixed apriltags
      #0:
      parent: imu1
      child: imu0
      T_child_wrt_parent: -0.048 0.037 0.002
      RPY_parent_to_child: 0.0 0.0 0.0
      R_child_to_parent: 1.000 -0.000 0.000
      0.000 1.000 -0.000
      0.000 0.000 1.000
      #1:
      parent: imu0
      child: tracking
      T_child_wrt_parent: 0.065 -0.014 0.013
      RPY_parent_to_child: 0.0 45.0 90.0
      R_child_to_parent: 0.000 -0.707 0.707
      1.000 0.000 -0.000
      -0.000 0.707 0.707
      #2:
      parent: imu1
      child: tracking
      T_child_wrt_parent: 0.017 0.015 0.013
      RPY_parent_to_child: 0.0 45.0 90.0
      R_child_to_parent: 0.000 -0.707 0.707
      1.000 0.000 -0.000
      -0.000 0.707 0.707
      #3:
      parent: body
      child: imu0
      T_child_wrt_parent: 0.020 0.014 -0.008
      RPY_parent_to_child: 0.0 0.0 0.0
      R_child_to_parent: 1.000 -0.000 0.000
      0.000 1.000 -0.000
      0.000 0.000 1.000
      #4:
      parent: body
      child: imu1
      T_child_wrt_parent: 0.068 -0.015 -0.008
      RPY_parent_to_child: 0.0 0.0 0.0
      R_child_to_parent: 1.000 -0.000 0.000
      0.000 1.000 -0.000
      0.000 0.000 1.000
      #5:
      parent: body
      child: stereo_l
      T_child_wrt_parent: 0.100 -0.040 0.000
      RPY_parent_to_child: 0.0 90.0 90.0
      R_child_to_parent: 0.000 -0.000 1.000
      1.000 0.000 -0.000
      -0.000 1.000 0.000
      #6:
      parent: body
      child: tof
      T_child_wrt_parent: 0.100 0.000 0.000
      RPY_parent_to_child: 0.0 90.0 90.0
      R_child_to_parent: 0.000 -0.000 1.000
      1.000 0.000 -0.000
      -0.000 1.000 0.000
      #7:
      parent: body
      child: ground
      T_child_wrt_parent: 0.000 0.000 0.100
      RPY_parent_to_child: 0.0 0.0 0.0
      R_child_to_parent: 1.000 -0.000 0.000
      0.000 1.000 -0.000
      0.000 0.000 1.000
      starting geometry module
      starting uart mavlink
      Successfully opened mavparser
      starting udp mavlink
      Adding manual QGC IP address to udp connection list: 192.168.219.182
      Added new UDP connection to 192.168.219.182
      starting px4 shell
      Detected PX4 Mavlink SYSID 1
      starting fixed pose input
      starting vio manager
      starting apriltag manager
      starting voa manager
      starting offboard figure eight
      Init complete, entering main loop
      Connected to voxl-qvio-server
      done updating transforms to use imu: imu0
      PX4 Connected over UART with sysid 1 <------ stop on this point for my stereo debug mode

      }

      also, when I connect to QGroundControl, I cannot satisfy pre-arm check because of avoidance/collision prevention Disabled

      1c6703a4-6b5f-4f54-8164-edbba1740760-image.png

      also, I alredy checked all the relative parameters as like this.
      https://docs.modalai.com/voxl-vision-px4-collision-prevention/

      Could you please give me advise to test obstacle avoidance?

      Thanks,

      1 Reply Last reply Reply Quote 0
      • Chad SweetC
        Chad Sweet ModalAI Team
        last edited by

        If you start voxl-vision-px4 manually, you can run 'voxl-vision-px4 --help' and see the following option available

        -s, --debug_stereo print detected stereo obstacles as linescan points

        S 2 Replies Last reply Reply Quote 0
        • S
          shlee853 @Chad Sweet
          last edited by

          @Chad-Sweet as you can see above script, I already run manual option -s.

          But, I cannot see any obstacle cloud point. Just stop on processing.

          Please look at above message carefully.

          Thanks,

          1 Reply Last reply Reply Quote 0
          • S
            shlee853 @Chad Sweet
            last edited by

            @Chad-Sweet Hi Chad,

            Could you please let me know the example of normal operation with -s option?

            Thanks,

            1 Reply Last reply Reply Quote 0
            • James StrawsonJ
              James Strawson ModalAI Team
              last edited by

              @shlee853

              I'm afraid to say the VOA feature has not yet been ported forward to our new software architecture (voxl-suite v0.3.4), but it still works in the legacy software (voxl-suite 0.2.0). We are a few weeks away from finishing the new version of VOA and adding it back in, at which point we will release another voxl-suite version. Until then you can go back to voxl-suite 0.2.0, sorry for the inconvenience! We are in a bit of a transition period as we rewrite all of our legacy software in the new architecture.

              Best Regards,
              James

              S 1 Reply Last reply Reply Quote 0
              • S
                shlee853 @James Strawson
                last edited by

                @James-Strawson got it.

                My test s/w version is volx-vision-px4 0.3.4 and has a same problem, am I right?

                Okay, I’ll proceed test VOA using 0.2.0 version before releasing new version s/w.

                Can I know release date for new version?

                Thanks,

                1 Reply Last reply Reply Quote 0
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