TOF Obstacle Avoidance
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Hi,
I would like to get the TOF Sensor working with PX4 Collision Prevention. I found some reference for the stereo camera here: https://docs.modalai.com/voxl-vision-px4-collision-prevention/
However couldn't find anything for the TOF Sensor. Is this supported? If not can you give me a starting point? Maybe some of the code for the stereo cameras could be reused etc. Just getting started with the VOXL, so I'm trying to navigate alle the docs and code examples. -
TOF is now built into the latest voxl-camera-server, you can see the code here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-camera-server/-/blob/master/src/api_interface/hal3/hal3_camera_mgr_tof.cpp
We have not connected TOF to VOA explicitly, but what would need to be done is to connect the TOF point cloud to VOA's point cloud entry point using MPA here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/voa_manager.c#L103
Let us know how it goes!
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Thank you, I will look into this!
Meanwhile is there an easy way to stream the tof data over voxl-streamer for debug purposes?@danielh voxl-streamer does not currently support streaming of TOF data.
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voxl_mpa_to_ros might help sending data to rviz
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Not sure if it will help, but here is some old code that was used to publish TOF point clouds and IR image to ROS : https://gitlab.com/voxl-public/old-projects/voxl-hal3-tof-cam-ros/-/blob/master/source/src/hello_hal3_camera_mgr.cpp . Perhaps some of this code can be re-used if needed..
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TOF is now built into the latest voxl-camera-server, you can see the code here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-camera-server/-/blob/master/src/api_interface/hal3/hal3_camera_mgr_tof.cpp
We have not connected TOF to VOA explicitly, but what would need to be done is to connect the TOF point cloud to VOA's point cloud entry point using MPA here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/voa_manager.c#L103
Let us know how it goes!
@Chad-Sweet I am also trying to get the TOF sensor to work with PX4 avoidance. Would you be able to provide some more details on how to do the second step you mentioned? I am new to using voxl and not totally clear on what I would need to change/incorporate in order to get avoidance working. Thanks!
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@ptaylor1234 Not sure if you ever found the information,
but PX4 avoidance information is listed here: https://docs.px4.io/v1.9.0/en/computer_vision/obstacle_avoidance.html
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