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    voxl MPA-TO_ROS2

    ROS
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    • Z
      Zachary Lowell 0 ModalAI Team @eric
      last edited by 6 Oct 2023, 15:20

      @eric I believe the repo is public - pull down the dev branch and follow the instructions for building. HOWEVER note this is only been tested on ros2 foxy since we are running ubuntu 18 on the voxl 2, so unsure how it will run on humble.

      E 1 Reply Last reply 9 Oct 2023, 13:37 Reply Quote 0
      • E
        eric @Zachary Lowell 0
        last edited by 9 Oct 2023, 13:37

        @Zachary-Lowell-0 I am getting a 404 from gitlab saying I don't have permission to view it. This is the link I'm trying to access: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2.git

        T 1 Reply Last reply 9 Oct 2023, 16:30 Reply Quote 0
        • T
          tom admin @eric
          last edited by 9 Oct 2023, 16:30

          @eric It's not public yet

          1 Reply Last reply Reply Quote 0
          • J
            Jeffrey Mao
            last edited by 16 Oct 2023, 13:15

            Is there a timeline for when it will be public in the future? We have install ROS2 Foxy, and are wondering if would be better to port it ourselves or wait for the release. Even a no would suffice, so we can start the work now

            1 Reply Last reply Reply Quote 0
            • Z
              Zachary Lowell 0 ModalAI Team
              last edited by 16 Oct 2023, 17:42

              @eric @Jeffrey-Mao please just download the debs for now. This should be published to public within the next few days I would say. For now download the two debs, unpackage them and then source the directory: /opt/ros/foxy/mpa_to_ros2/install/setup.bash

              1. http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-ros2-foxy_0.0.1-202310061042_arm64.deb
              2. http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros2_0.0.1-202310132005_arm64.deb

              Once these have both been installed on target via sudo dpkg -i "PACKAGE", you will be missing some python and xml dependencies, of which include

              1. sudo apt-get install -y libtinyxml2-dev
              2. export ROS_HOME=/opt/ros/foxy
              3. python3 -m pip install netifaces
              4. python3 -m pip install yaml
              5. python3 -m pip install lark

              Once these are all isntalled, you can run ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node and it will run as if it were the original mpa-to-ros

              J 1 Reply Last reply 16 Oct 2023, 19:32 Reply Quote 0
              • J
                Jeffrey Mao @Zachary Lowell 0
                last edited by 16 Oct 2023, 19:32

                @Zachary-Lowell-0 Hi thank you for use the .deb. By the way we try to install voxl MPA-to-ROS2

                dpkg: dependency problems prevent configuration of voxl-mpa-to-ros2:
                voxl-mpa-to-ros2 depends on libmodal-pipe (>= 2.6.0); however:
                Version of libmodal-pipe on system is 2.4.0.

                Do you have a later system image for libmodal-pipe we can update with

                1 Reply Last reply Reply Quote 0
                • Z
                  Zachary Lowell 0 ModalAI Team
                  last edited by 17 Oct 2023, 15:36

                  @Jeffrey-Mao which SDK are you on - if you are on 1.0.0 then you should not have this issue. This MPA to ROS2 only supports the tip (aka past 1.0.0) - if you need to flash the sdk on to your board, you can download the image here: https://developer.modalai.com/asset/2

                  J 1 Reply Last reply 18 Oct 2023, 20:52 Reply Quote 0
                  • J
                    Jeffrey Mao @Zachary Lowell 0
                    last edited by Jeffrey Mao 18 Oct 2023, 20:52 18 Oct 2023, 20:52

                    @Zachary-Lowell-0 We installed Ros2 Foxy and the voxl-mpa-to-ros2 package. Thank you for the help. Unfortunately when we try to echo the /qvio message we get the following error. This is a problem if we echo from the voxl2 ssh or my computer. Do you know how to resolve this issue?

                    Cannot echo topic 'qvio', as it contains more than one type: [geometry_msgs/msg/PoseStamped, nav_msgs/msg/Odometry]
                    

                    Additioanlly when trying to stream the QVIO to either my or someone else's computer it crashes with the SDK after a bit.

                    M 1 Reply Last reply 19 Oct 2023, 18:01 Reply Quote 0
                    • M
                      Moderator ModalAI Team @Jeffrey Mao
                      last edited by 19 Oct 2023, 18:01

                      @Jeffrey-Mao can you please type voxl-version, share the output, and confirm you are on the latest SDK? As Zach said, this will not work with older SDK

                      J 1 Reply Last reply 19 Oct 2023, 18:57 Reply Quote 0
                      • J
                        Jeffrey Mao @Moderator
                        last edited by 19 Oct 2023, 18:57

                        @Moderator I upgraded ti SDK 1.0.0 as evidenced by the output


                        system-image: 1.6.2-M0054-14.1a-perf
                        kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125

                        hw version: M0054

                        voxl-suite: 1.0.0

                        current IP: wlan0: REDACTED

                        vvoxl2:~$ voxl-version

                        system-image: 1.6.2-M0054-14.1a-perf
                        kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125

                        hw version: M0054

                        voxl-suite: 1.0.0

                        Packages:
                        Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.0/binary-arm64/
                        Last Updated: 2023-10-18 19:46:25
                        List:
                        libmodal-cv 0.3.2
                        libmodal-exposure 0.0.8
                        libmodal-journal 0.2.2
                        libmodal-json 0.4.3
                        libmodal-pipe 2.8.5
                        libqrb5165-io 0.2.0
                        libvoxl-cci-direct 0.1.5
                        libvoxl-cutils 0.1.1
                        mv-voxl 0.1-r0
                        qrb5165-bind 0.1-r0
                        qrb5165-dfs-server 0.1.0
                        qrb5165-imu-server 0.6.0
                        qrb5165-slpi-test-sig 01-r0
                        qrb5165-system-tweaks 0.2.2
                        qrb5165-tflite 2.8.0-2
                        voxl-bind-spektrum 0.1.0
                        voxl-camera-calibration 0.4.0
                        voxl-camera-server 1.6.2
                        voxl-configurator 0.2.7
                        voxl-cpu-monitor 0.4.6
                        voxl-docker-support 1.2.5
                        voxl-eigen3 3.4.0
                        voxl-elrs 0.0.7
                        voxl-esc 1.2.2
                        voxl-feature-tracker 0.2.3
                        voxl-flow-server 0.3.3
                        voxl-gphoto2-server 0.0.10
                        voxl-jpeg-turbo 2.1.3
                        voxl-lepton-server 1.1.2
                        voxl-libgphoto2 0.0.4
                        voxl-libuvc 1.0.7
                        voxl-logger 0.3.4
                        voxl-mavcam-manager 0.5.1
                        voxl-mavlink 0.1.1
                        voxl-mavlink-server 1.2.0
                        voxl-modem 1.0.5
                        voxl-mongoose 7.7.0-1
                        voxl-mpa-to-ros 0.3.6
                        voxl-mpa-to-ros2 0.0.1-202310132005
                        voxl-mpa-tools 1.0.4
                        voxl-opencv 4.5.5-1
                        voxl-portal 0.5.9
                        voxl-px4 1.14.0-2.0.34
                        voxl-px4-imu-server 0.1.2
                        voxl-px4-params 0.1.8
                        voxl-qvio-server 0.9.3
                        voxl-remote-id 0.0.8
                        voxl-slpi-uart-bridge 1.0.1
                        voxl-streamer 0.7.1
                        voxl-suite 1.0.0
                        voxl-tag-detector 0.0.4
                        voxl-tflite-server 0.3.1
                        voxl-utils 1.3.1
                        voxl-uvc-server 0.1.6
                        voxl-vision-hub 1.6.6
                        voxl2-system-image 1.6.2-r0
                        voxl2-wlan 1.0-r0

                        M 1 Reply Last reply 20 Oct 2023, 19:49 Reply Quote 0
                        • M
                          Moderator ModalAI Team @Jeffrey Mao
                          last edited by 20 Oct 2023, 19:49

                          @Jeffrey-Mao voxl-mpa-ros2 is on the dev branch and not yet on stable. We expect more comprehensive testing and promotion to stable in the next few weeks. In the meantime, you can experiment with the latest code in the dev repository at your own risk

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