# voxl_mpa_to_ros

Source: https://forum.modalai.com/topic/2142/voxl_mpa_to_ros
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2023-05-09 13:26:55 UTC by hedd
Replies: 6 · Views: 1960

## hedd · 2023-05-09 13:26:55 UTC

Hello ! 
I have launch this command :  roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch  on my drone voxl  but i get just these topics : 
MPA to ROS app is now running

Found new interface: hires
Found new interface: qvio_overlay
Found new interface: stereo
Found new interface: tracking
Found new interface: imu0
Found new interface: imu1
Found new interface: voa_pc_out
Found new interface: qvio

but my goal is to subscribes to the vvpx4_sys_status to get battery data ,how can i solve that .
NB: i source the file :  my_ros_env.sh before launching and i set :  ROS_IP & ROS_MASTER_URI appropriately for my configuration .
is somone have the same issue ?

## Reply by hedd · 2023-05-09 14:28:59 UTC

@modaltb can you help ?

## Reply by wilkinsaf · 2023-05-11 02:26:33 UTC

If you wanted the battery data, you can get that from the mavlink messages that are coming in. Does not necessarily have to do with voxl services. You would need to interact with voxl-mavlink-server to get that information.

## Reply by wilkinsaf · 2023-05-11 02:27:19 UTC

You can connect to that, and then subscribe to the [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) message for that

## Reply by hedd · 2023-05-11 09:28:00 UTC

@wilkinsaf thanks for your response

## Reply by hedd · 2023-05-12 08:49:06 UTC

@wilkinsaf  hello , thanks for your previous response , i want to know how to connect and interact withthe voxl-mavlink- sever because i searched on modalai but they just mentionned how to connect to it for a Voxl2 and i have voxl1, can you help me please ?

## Reply by wilkinsaf · 2023-05-15 21:10:28 UTC

@hedd apologies as I was OOO for a few days. Feel free to send me an email at andrew.wilkins@ascendengineer.com

I would like to better understand what you are attempting to accomplish. It should not matter what VOXL version you are on.