Unable to run my own offboard node in starling 2

[Jonathan Davis]

I am using ros melodic and mavros to run my offboard node. It should fly in a square trajectory, but it stays still.

When I try to run my offboard program, it instead runs the figure 8 which it should not because my own node is already running.

Using the voxl-vision-hub wizard I tried to set it to offboard modes 1,2, & 3 and neither worked. In mode 1 it did the figure 8 trajectory. In mode 3 px4 didn't let me switch into offboard mode. In mode 2 it just stayed there.

Here's my launch file:

This is my voxl-vision-hub.conf file:

{
        "config_file_version":  1,
        "en_localhost_mavlink_udp":     false,
        "localhost_udp_port_number":    14551,
        "en_vio":       true,
        "vio_pipe":     "qvio",
        "secondary_vio_pipe":   "ov",
        "en_reset_vio_if_initialized_inverted": true,
        "vio_warmup_s": 3,
        "send_odom_while_failed":       true,
        "horizon_cal_tolerance":        0.5,
        "offboard_mode":        "trajectory",
        "follow_tag_id":        0,
        "figure_eight_move_home":       true,
        "robot_radius": 0.300000011920929,
        "collision_sampling_dt":        0.1,
        "max_lookahead_distance":       1,
        "en_tag_fixed_frame":   false,
        "fixed_frame_filter_len":       5,
        "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false,
        "en_voa":       true,
        "voa_upper_bound_m":    -0.15000000596046448,
        "voa_lower_bound_m":    0.15000000596046448,
        "voa_voa_memory_s":     1,
        "voa_max_pc_per_fusion":        100,
        "voa_pie_max_dist_m":   20,
        "voa_pie_min_dist_m":   0.25,
        "voa_pie_under_trim_m": 1,
        "voa_pie_threshold":    3,
        "voa_send_rate_hz":     20,
        "voa_pie_slices":       36,
        "voa_pie_bin_depth_m":  0.15000000596046448,
        "voa_inputs":   [{
                        "enabled":      true,
                        "type": "point_cloud",
                        "input_pipe":   "dfs_point_cloud",
                        "frame":        "stereo_l",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }, {
                        "enabled":      true,
                        "type": "point_cloud",
                        "input_pipe":   "stereo_front_pc",
                        "frame":        "stereo_front_l",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }, {
                        "enabled":      true,
                        "type": "point_cloud",
                        "input_pipe":   "stereo_rear_pc",
                        "frame":        "stereo_rear_l",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }, {
                        "enabled":      true,
                        "type": "tof",
                        "input_pipe":   "tof",
                        "frame":        "tof",
                        "max_depth":    6,
                        "min_depth":    0.15000000596046448,
                        "cell_size":    0.079999998211860657,
                        "threshold":    3,
                        "x_fov_deg":    106.5,
                        "y_fov_deg":    85.0999984741211,
                        "conf_cutoff":  125
                }, {![Screenshot 2024-03-29 175846.png](/assets/uploads/files/1711749611983-screenshot-2024-03-29-175846.png) 
                        "enabled":      true,
                        "type": "rangefinder",
                        "input_pipe":   "rangefinders",
                        "frame":        "body",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }]
}

Here is the part of my QGC log where it fails to move to offboard mode:

k

[Moderator]

@Jonathan-Davis said in Unable to run my own offboard node in starling 2:

offboard_mode

Check:
https://docs.modalai.com/mavros/#configure-voxl-vision-hub-localhost

offboard_mode - set to “off”. When offboard_mode is on, this enables voxl-vision-hub to command the drone to move, which we don’t want (we only want MAVROS to be sending movement commands)