Voxl-mapper on VOXL2

Jgaucin

@Moderator @tom This might be a more general question but, is there any way to push the voxl-mapper code to the Sentinel from the Gitlab? I want to test out the pointcloud 3D reconstruction of the environment using the dfs server if possible? Is it SLAM capable with stereo on the Sentinel Development Drone, I see that it is availble for the Starling which has PMD TOF, Tracking, 4k30 image sensors but I haven't seen any documentation or video for the Sentinel which has 2 Stereo Pairs, Tracking, 4K High-Res image sensors.

What would be the best steps to move forward with my goal?

Thanks, as always!

tom

@Jgaucin If your Sentinel is on SDK 1.0, voxl-mapper 0.1.9 should be available onboard for installation by running apt install voxl-mapper

Jgaucin

@tom Hello, due to the issue described in this discussion post here I wasn't able to run the dfs-server and therefore the voxl-mapper on SDK 1.0.0 on the Sentinel's VOXL2.

Now I am running into some issues after doing apt install voxl-mapper onto VOXL2 SDK 0.9.5 and running the command voxl-mapper on the Sentinel.
"ERROR fetching tf from tf ringbuffer
there wasn't sufficient data in the buffer"

This only shows the following image onto voxl portal and does not construct a map.

Also, is this solution still relevant to 0.9.5? It states that there is an issue with the qvio server receiving a pose estimate here.

Taylor Presley

@Jgaucin @tom Any tips on getting this to work? I am running into the same issue using a Sentinel with voxl-suite 1.1

Any help is appreciated!
Thanks,
Taylor

Taylor Presley

@tom nevermind, I got it figured out!

Jetson Nano

@Taylor-Presley Could you share how you solved the above error?

Thanks

Zachary Lowell 0

@Jetson-Nano can you upgrade to the most recent SDK please and paste the output of voxl-mapper - if its the ring buffer issue - which TOF are you using?

Also can you confirm the drone is in position mode prior to flight

plub

@Zachary-Lowell-0 Does voxl-mapper need a TOF sensor to work properly?

Viktor Gal

@plub yeah, unless you have other means to get the depth information. see the code: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_mapper.cc?ref_type=heads#L99

basically you need a depth sensor of sort.

Zachary Lowell 0

@plub said in Voxl-mapper on VOXL2:

@Zachary-Lowell-0 Does voxl-mapper need a TOF sensor to work properly?

1 Reply Last reply a day ago Reply

@plub yes you need a modalAI tof for voxl-mapper to work properly - you can technically get by by using another TOF sensor but then youd personally need to write the code to popuilte the MPA with pointcloud data the the voxl-mapper client is subscribing to.