# voxl-mapper does not show the trajectory

Source: https://forum.modalai.com/topic/2156/voxl-mapper-does-not-show-the-trajectory
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-05-13 15:23:08 UTC by chou zhi
Replies: 1 · Views: 419

## chou zhi · 2023-05-13 15:23:08 UTC

Hello Modalai. I'm currently testing voxl-mapper with tracking and TOF camera. The camera server and vixion-px4 are functioning properly.

![Portal-trackingtof.png](https://forum.modalai.com/assets/uploads/files/1683990902571-portal-trackingtof.png) 

 I was able to take off in position mode and switch to offboard mode successfully. However, when I click on a point in Portal UI, it fails to generate the trajectory and there's only the point:

![unable.png](https://forum.modalai.com/assets/uploads/files/1683991163294-unable.png) 

The terminal displays the following error message:

```
Using start pose of: x:  -0.03, y:   0.02, z:   0.09
Using goal pose of: x:  -0.74, y:   1.67, z:  -2.11
Starting RRTConnect planner
ERROR: End point is in collision
```

I 'm certain that the end-point is in right position(the value of z is negative, which means that it's off the ground). But why there is no trajectory?

## Reply by chou zhi · 2023-05-13 15:35:32 UTC

I came across a [former-topic](https://forum.modalai.com/topic/1443/voxl-portal-does-not-show-trajectory-even-though-voxl-mapper-computes-it) discussing a similar issue to mine. 

BTW, about a month ago, when I tried using voxl-mapper based on your [YouTube video](https://www.youtube.com/watch?v=gqlSKRP8prc) (*hands-on test without flying*), **it was able to generate the path successfully**. 

![portal-able.png](https://forum.modalai.com/assets/uploads/files/1683992105522-portal-able.png) 

During that time, I accidentally turned over the TOF camera, resulting in a reversed image. I'm wondering if that could be the cause of the problem I'm currently facing?