# voxl-mapper/planner for a Seeker drone Source: https://forum.modalai.com/topic/3089/voxl-mapper-planner-for-a-seeker-drone Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2024-02-05 17:26:15 UTC by Pooyan Replies: 24 · Views: 6120 ## Pooyan · 2024-02-05 17:26:15 UTC Hello all, I am doing the voxl-mapper/planner for a Seeker drone using the following repository: [https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/tree/master?ref_type=heads](link url) I am done with all of the steps provided there, but when I run the voxl-mapper I get the following error constantly: ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server I have done the following commands to update camera-server, and I got a massage about being updated to the final version: ![c0c5ea06-5d3e-4f3d-a702-a1f4fe89c125-image.png](https://forum.modalai.com/assets/uploads/files/1707153805131-c0c5ea06-5d3e-4f3d-a702-a1f4fe89c125-image.png) ![03618296-462a-4d5d-9a3a-8e0ac83313b0-image.png](https://forum.modalai.com/assets/uploads/files/1707153873861-03618296-462a-4d5d-9a3a-8e0ac83313b0-image.png) ![e12b02a9-87ec-46d0-b185-1537ec873b26-image.png](https://forum.modalai.com/assets/uploads/files/1707153918655-e12b02a9-87ec-46d0-b185-1537ec873b26-image.png) I would appreciate it if you could give me some hints. @tom, can you take a look please. ## Reply by tom (ModalAI staff) · 2024-02-05 18:01:04 UTC @Pooyan What SDK are you using? You can see this with `voxl-version` ## Reply by Pooyan · 2024-02-05 18:13:49 UTC (in reply to tom) @tom thank you for your reply. It is 0.9.5 ## Reply by tom (ModalAI staff) · 2024-02-05 18:15:17 UTC (in reply to Pooyan) @Pooyan Okay you can't mix and match packages like that. voxl-camera-server from dev can't be used with SDK 0.9.5. You need to use SDK 1.1.2 and use the packages as they come, not pull in others, it won't work ## Reply by Pooyan · 2024-02-05 19:35:42 UTC (in reply to tom) @tom yes, thanks. But, is there any other version I could use to fit the Camera-Server on the SDK version that I have? ## Reply by tom (ModalAI staff) · 2024-02-05 20:00:19 UTC (in reply to Pooyan) @Pooyan No, the only voxl-camera-server package compatible with that SDK would be the one installed with it. Why are you trying to change versions? ## Reply by Pooyan · 2024-02-05 20:56:48 UTC (in reply to tom) @tom I don't want to change any versions, but as you said I need to update the SDK, I was wondering maybe I could solve the problem with no upgrading SDK, but using another version of Camera-server. The thing is that it used to work for sure when you were working on 0.9.5 version. That is why I was asking. ## Reply by Pooyan · 2024-02-05 22:37:38 UTC (in reply to tom) @tom is there any way to have voxl-mapper on the SDK 0.9.5? I am trying to upgrade another Seeker, so in the mean time I was wondering if I could proceed with this one. ## Reply by Pooyan · 2024-02-05 22:49:34 UTC (in reply to tom) @tom I am just putting the versioning as well, in case there is anything you wanted to see: ![06889cb0-7bbe-4104-97b6-0d3adec06f84-image.png](https://forum.modalai.com/assets/uploads/files/1707173360632-06889cb0-7bbe-4104-97b6-0d3adec06f84-image.png) ## Reply by tom (ModalAI staff) · 2024-02-05 23:24:58 UTC (in reply to Pooyan) @Pooyan We can really only offer support with the latest SDK, you can read through the SDK 0.9 docs here if you'd like to see our old docs: https://docs.modalai.com/voxl-sdk-0_9/ This is the voxl-mapper section based on SDK 0.9.5 https://docs.modalai.com/voxl-mapper-0_9/ ## Reply by Pooyan · 2024-02-06 15:56:27 UTC (in reply to tom) @tom Thank you so much for the reply and information. I understand that for sure. ## Reply by Pooyan · 2024-02-06 17:41:42 UTC (in reply to tom) @tom Now I have upgrade SDK to 1.1.2, and did everything again through this link: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/tree/master?ref_type=heads The thing is that the voxl-mapper is Enabled but not running and when I am trying the voxl-mapper command, I get the following error: ![4241c0a9-0e68-4bf8-b14c-fff1e486d89f-image.png](https://forum.modalai.com/assets/uploads/files/1707241257996-4241c0a9-0e68-4bf8-b14c-fff1e486d89f-image.png) I would appreciate it if you could give me some hint on this. Thank you so much. ## Reply by Pooyan · 2024-02-07 21:29:22 UTC (in reply to Pooyan) @Pooyan there was an internet connection issue and after that I used "opkg update && opkg upgrade", and then "opkg install voxl-portal voxl-mapper " for installing mapper again and now this problem is solved. ## Reply by Pooyan · 2024-02-07 21:34:42 UTC (in reply to tom) @tom Hello again, The SDK was updated to 1.2.0 and it was because of putting the configure-opkg on dev as it was said in the GitLab voxl-mapper link. I went through every steps in the following link again. Do you have any idea about what I can do? https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper ![6cb6a586-f848-41e3-9038-b4ceef09d8a6.jpg](https://forum.modalai.com/assets/uploads/files/1707341539681-6cb6a586-f848-41e3-9038-b4ceef09d8a6.jpg) as you can see, when I run the "voxl-mapper", I get the following errors and it keeps repeating. Thank you so much for your help. ## Reply by Pooyan · 2024-02-08 00:40:10 UTC (in reply to Pooyan) @tom Again I changed the version to 1.1.2 and got the same issue about loading shared libraries: libvoxblox.so. So I want to explain more what I do in case you could help me better. I have included the screenshot as well. ![Screenshot from 2024-02-07 18-23-182.jpg](https://forum.modalai.com/assets/uploads/files/1707352621230-screenshot-from-2024-02-07-18-23-182.jpg) When I push the built mapper to voxl I get the following error as well. I wanted to show that to you as well: ![Screenshot from 2024-02-07 18-23-18.jpg](https://forum.modalai.com/assets/uploads/files/1707352626350-screenshot-from-2024-02-07-18-23-18.jpg) The codes I use to do that are as follow: git clone https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper.git ./install_build_deps.sh APQ8096 dev ./build.sh apq8096 ./make_package.sh ipk ./deploy_to_voxl.sh I would appreciate it if you could give me any hints on this. ## Reply by tom (ModalAI staff) · 2024-02-08 00:52:31 UTC (in reply to Pooyan) @Pooyan After a fresh flash using the release and `./install.sh` if you adb on and run `opkg install voxl-mapper` and then run `voxl-mapper` what happens? ## Reply by Pooyan · 2024-02-09 17:51:57 UTC (in reply to tom) @tom I have just flashed it again and before anything else I did opkg install voxl-mapper and I got this: ![Screenshot from 2024-02-09 10-29-17.png](https://forum.modalai.com/assets/uploads/files/1707496393038-screenshot-from-2024-02-09-10-29-17.png) I did it when the seeker is connected to the internet and the adb cable is connected, and I got this: ![726564fb-3d01-49b2-85ff-dc879297114a.jpg](https://forum.modalai.com/assets/uploads/files/1707500906245-726564fb-3d01-49b2-85ff-dc879297114a.jpg) Still I didn't even install the FC2 through QGC or doing anything else. ## Reply by tom (ModalAI staff) · 2024-02-09 18:00:17 UTC (in reply to Pooyan) @Pooyan Oh sorry, on voxl run `opkg install /data/voxl-suite-offline-packages/voxl-mapper*.ipk` ## Reply by Pooyan · 2024-02-09 18:02:31 UTC (in reply to tom) @tom thank you for the command. I get this now: ![2525b057-6d1a-4c04-8692-6aa56c4783cd.jpg](https://forum.modalai.com/assets/uploads/files/1707501747567-2525b057-6d1a-4c04-8692-6aa56c4783cd.jpg) ## Reply by tom (ModalAI staff) · 2024-02-09 18:06:19 UTC (in reply to Pooyan) @Pooyan Okay you'll just have to install the dependencies in the same way. I just did this on my voxl1: ``` cd /data/voxl-suite-offline-packages/ opkg install voxl-ceres-solver_2\:1.14.0-10.ipk opkg install voxl-nlopt_2.5.0-4.ipk opkg install voxl-voxblox_1.1.5.ipk opkg install voxl-mapper_0.2.0.ipk ``` ## Reply by Pooyan · 2024-02-09 18:21:33 UTC (in reply to tom) @tom Thank you so much. Now it seems that I have it and when I run it I get the following errors: ![804bff15-53ea-4cf2-9cc0-f0c32d6502d7.jpg](https://forum.modalai.com/assets/uploads/files/1707502856887-804bff15-53ea-4cf2-9cc0-f0c32d6502d7.jpg) Do I need to upload the FC2? as I didnt do it yet. ## Reply by tom (ModalAI staff) · 2024-02-09 18:37:09 UTC (in reply to Pooyan) @Pooyan Cool you shouldn't have to change anything on the flight core for this to work, I'll see if I can get someone else from my team to take a look. ## Reply by Pooyan · 2024-02-09 18:42:26 UTC (in reply to tom) @tom Thank you so much. I didn't change anything and just put the commands you gave me. I am looking forward to hearing from you. ## Reply by Pooyan · 2024-02-09 21:46:11 UTC (in reply to tom) @tom So, if I just restart and then do "systemctl enable voxl-mapper", it will work. But if I run it on CMD with voxl-mapper, it will still show me the same error. If you have any comments I would appreciate it, otherwise it works in that way. Thank you so much. ## Reply by tom (ModalAI staff) · 2024-02-09 21:48:18 UTC (in reply to Pooyan) @Pooyan Interesting, systemd is ideal way for it to be running