# Recommended ROS2 Installation flow for VOXL2

Source: https://forum.modalai.com/topic/2996/recommended-ros2-installation-flow-for-voxl2
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: voxl-sdk
Posted: 2024-01-05 20:13:49 UTC by ceu gomez
Replies: 1 · Views: 1536

## ceu gomez · 2024-01-05 20:13:49 UTC

Hi, 
I'm having issues installing ros2 and running voxl_mpa_to_ros2 on VOXL2. I'm running a fresh flash of SDK1.1.2 on VOXL2 and installing via 
```
apt install voxl-ros2-foxy 
apt install voxl-mpa-to-ros2
apt install voxl-microdds-agent
``` 
sourcing ROS2 & running voxl-configure-microdds to enable the systemctl service. after reboot, command 
```
ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node 
```
yields 
```
/opt/ros/foxy/mpa_to_ros2/install/voxl_mpa_to_ros2/lib/voxl_mpa_to_ros2/voxl_mpa_to_ros2_node: error while loading shared libraries: libtinyxml2.so.6: cannot open shared object file: No such file or directory
```
checking ROS topics, as
```
ros2 topic 
```
yields
```
Failed to load entry point 'list': No module named 'yaml'
Traceback (most recent call last):
  File "/opt/ros/foxy/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.9.13', 'console_scripts', 'ros2')())
  File "/opt/ros/foxy/lib/python3.6/site-packages/ros2cli/cli.py", line 43, in main
    required=False, argv=argv)
  File "/opt/ros/foxy/lib/python3.6/site-packages/ros2cli/command/__init__.py", line 251, in add_subparsers_on_demand
    command_parser, f'{cli_name} {name}', **kwargs)
  File "/opt/ros/foxy/lib/python3.6/site-packages/ros2topic/command/topic.py", line 30, in add_arguments
    parser, cli_name, '_verb', 'ros2topic.verb', required=False)
  File "/opt/ros/foxy/lib/python3.6/site-packages/ros2cli/command/__init__.py", line 237, in add_subparsers_on_demand
    extension = command_extensions[name]
KeyError: 'list'

```
VOXL-Version outputs as below: 
```
--------------------------------------------------------------------------------
system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   1.1.2
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2024-01-05 19:10:23
List:
	libmodal-cv                 0.4.0
	libmodal-exposure           0.1.0
	libmodal-journal            0.2.2
	libmodal-json               0.4.3
	libmodal-pipe               2.9.2
	libqrb5165-io               0.4.2
	libvoxl-cci-direct          0.2.1
	libvoxl-cutils              0.1.1
	mv-voxl                     0.1-r0
	qrb5165-bind                0.1-r0
	qrb5165-dfs-server          0.2.0
	qrb5165-imu-server          1.0.1
	qrb5165-rangefinder-server  0.1.1
	qrb5165-slpi-test-sig       01-r0
	qrb5165-system-tweaks       0.2.3
	qrb5165-tflite              2.8.0-2
	voxl-bind-spektrum          0.1.0
	voxl-camera-calibration     0.5.3
	voxl-camera-server          1.8.9
	voxl-configurator           0.4.8
	voxl-cpu-monitor            0.4.7
	voxl-docker-support         1.3.0
	voxl-elrs                   0.1.3
	voxl-esc                    1.3.7
	voxl-feature-tracker        0.3.2
	voxl-flow-server            0.3.3
	voxl-gphoto2-server         0.0.10
	voxl-jpeg-turbo             2.1.3-5
	voxl-lepton-server          1.2.0
	voxl-libgphoto2             0.0.4
	voxl-libuvc                 1.0.7
	voxl-logger                 0.3.5
	voxl-mavcam-manager         0.5.3
	voxl-mavlink                0.1.1
	voxl-mavlink-server         1.3.2
	voxl-microdds-agent         2.4.1-0
	voxl-modem                  1.0.8
	voxl-mongoose               7.7.0-1
	voxl-mpa-to-ros             0.3.7
	voxl-mpa-to-ros2            0.0.2
	voxl-mpa-tools              1.1.3
	voxl-neopixel-manager       0.0.3
	voxl-opencv                 4.5.5-2
	voxl-portal                 0.6.3
	voxl-px4                    1.14.0-2.0.63
	voxl-px4-imu-server         0.1.2
	voxl-px4-params             0.3.3
	voxl-qvio-server            1.0.0
	voxl-remote-id              0.0.9
	voxl-ros2-foxy              0.0.1
	voxl-streamer               0.7.4
	voxl-suite                  1.1.2
	voxl-tag-detector           0.0.4
	voxl-tflite-server          0.3.1
	voxl-utils                  1.3.3
	voxl-uvc-server             0.1.6
	voxl-vision-hub             1.7.3
	voxl2-system-image          1.7.1-r0
	voxl2-wlan                  1.0-r0
--------------------------------------------------------------------------------

```
Any suggestions for running voxl-mpa-to-ros2? is there a python dependency script that the installation needs above the apt install? 
Thanks
-c

## Reply by ceu gomez · 2024-01-05 20:33:27 UTC

nevermind, this is fixable with voxl-configure-mpa-to-ros2 and voxl-configure-pkg-manager. Leaving this up for anyone else having the same problem.